Assistive device with a refreshable haptic feedback interface

ABSTRACT

An assistive device and method to provide non-visual assistance to a user to perceive the surrounding world, comprises a haptic feedback interface that includes a plurality of haptic elements. The assistive device generates a first touch-discernible output layout on the haptic feedback interface using the plurality of haptic elements. The first touch-discernible output layout corresponds to a first reproduction of a 3D real-world area within a first proximity range of the assistive device. The first touch-discernible output layout includes at least a first set of haptic indicators to discern movement of a first set of moving objects within the first proximity range. The first set of haptic indicators are generated on the haptic feedback interface to discern a plurality of objects of the 3D real-world area. The first set of haptic indicators are generated based on at least an environmental condition obtained from the sensor data.

CROSS-REFERENCE TO RELATED APPLICATIONS/INCORPORATION BY REFERENCE

This patent application makes reference to, claims priority to, claimsthe benefit of, and is a Continuation application of U.S. patentapplication Ser. No. 17/124,563, filed on Dec. 17, 2020, which is aContinuation application of U.S. Pat. No. 10,884,544, issued on Jan. 5,2021, which is a Continuation application U.S. Pat. No. 10,747,359,issued on Aug. 18, 2020, which is a Continuation application of U.S.Pat. No. 10,275,083, issued on Apr. 30, 2019.

Each of the above referenced patent applications is hereby incorporatedherein by reference in its entirety.

FIELD

Various embodiments of the disclosure relate to assistive technologies.More specifically, various embodiments of the disclosure relate to anassistive device with a refreshable haptic feedback interface and amethod to provide non-visual assistance to a user by the assistivedevice.

BACKGROUND

With the growth of human-machine interaction (HMI) and sensortechnologies, various types of assistive devices have been developed.However, technological developments in HMI are mostly focused onvision-based interaction technology. Humans have five traditionalrecognized senses, sight (ophthalmoception), hearing (audioception),taste (gustaoception), smell (olfacoception or olfacception), and touch(tactioception). The loss of one or more senses generally results inenhancement of one or more of the remaining senses to compensate for thelost sense(s). For people that have loss or impaired sight, existingtechnology are typically focused on Braille-based or other rudimentaryforms of tactile presentation systems. As existing technology aretypically focused on Braille based tactile presentations or otherconventional tactile forms, HMI for people that have loss or impairedsight are usually limited to use of separate input and outputinterfaces, for example, a separate 6-keys or 8-keys Braille input and aseparate rudimentary form of tactile output that are of limitedfunctionality and use. For people that have impaired sight, it may be achallenging task to understand the surrounding world similar to thesighted people using the existing systems. Thus, an advanced assistivedevice may be required for providing non-visual assistance to a user forenhanced understanding of the surrounding world.

Further limitations and disadvantages of conventional and traditionalapproaches will become apparent to one of skill in the art, throughcomparison of described systems with some aspects of the presentdisclosure, as set forth in the remainder of the present application andwith reference to the drawings.

SUMMARY

An assistive device with a refreshable haptic feedback interface and amethod for providing non-visual assistance to a user by the assistivedevice substantially as shown in, and/or described in connection with,at least one of the figures, as set forth more completely in the claims.

These and other features and advantages of the present disclosure may beappreciated from a review of the following detailed description of thepresent disclosure, along with the accompanying figures in which likereference numerals refer to like parts throughout.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an exemplary environment for providing non-visualassistance to a user by an assistive device, in accordance with anembodiment of the disclosure.

FIG. 2A is a block diagram that illustrates an exemplary assistivedevice for providing non-visual assistance to a user, in accordance withan embodiment of the disclosure.

FIG. 2B illustrates exemplary protrusions on a haptic feedback interfaceof the assistive device of FIG. 2A for providing non-visual assistanceto a user, in accordance with an embodiment of the disclosure.

FIG. 3 illustrates a first exemplary implementation of the exemplaryassistive device of FIG. 2A as a wearable assistive device for providingnon-visual assistance to a user, in accordance with an embodiment of thedisclosure.

FIGS. 4A and 4B, collectively, illustrates a second exemplaryimplementation of the exemplary assistive device of FIG. 2A as awearable assistive device for providing non-visual assistance to a user,in accordance with an embodiment of the disclosure.

FIG. 5 illustrates a third exemplary implementation of the exemplaryassistive device of FIG. 2A as a combination of a plurality of wearableand non-wearable assistive devices for providing non-visual assistanceto a user, in accordance with an embodiment of the disclosure.

FIGS. 6A and 6B, collectively, illustrate exemplary scenario diagramsfor implementation of the assistive device and method for providingnon-visual assistance to a user, in accordance with an embodiment of thedisclosure.

FIGS. 7A, 7B, and 7C, collectively, depict a flow chart that illustratesa method for providing non-visual assistance to a user to perceive thesurrounding world, in accordance with an embodiment of the disclosure.

DETAILED DESCRIPTION

The following described implementations may be found in the disclosedassistive device and method for providing non-visual assistance to auser to perceive the surrounding world. Exemplary aspects of thedisclosure may include an assistive device that may include a hapticfeedback interface that comprises a plurality of haptic elements. Theassistive device may further include a haptic feedback controllerconfigured to generate a first touch-discernible output layout on thehaptic feedback interface using the plurality of haptic elements. Thefirst touch-discernible output layout may correspond to a firstreproduction of a three-dimensional (3D) real-world area within a firstproximity range of the assistive device. The first touch-discernibleoutput layout may include at least a first set of haptic indicators todiscern movement of a first set of moving objects within the firstproximity range. The haptic feedback controller may be configured toupdate the first touch-discernible output layout to a secondtouch-discernible output layout based on a change of the first proximityrange to a second proximity range. The haptic feedback controller may beconfigured to control a rate-of-change of movement of one or more ofhaptic indicators of the first set of haptic indicators or a second setof haptic indicators within the second proximity range on the hapticfeedback interface, based on the update and a difference between thefirst proximity range and the second proximity range.

In accordance with an embodiment, the first touch-discernible outputlayout may be a first 3D layout that comprises a first plurality ofdifferent haptic indicators. The first plurality of different hapticindicators may be spatially arranged on the haptic feedback interface ina defined region such that a spatial arrangement of a plurality ofobjects in the 3D real-world area within the first proximity range ofthe assistive device is discernible by tactioception based on a usertouch on the first touch-discernible output layout. The secondtouch-discernible output layout may be a second 3D layout that comprisesa second plurality of different haptic indicators. The second pluralityof different haptic indicators may be spatially arranged on the hapticfeedback interface in the defined region such that a spatial arrangementof a plurality of objects in the 3D real-world area within the secondproximity range of the assistive device is discernible by tactioceptionbased on a user touch on the second touch-discernible output layout.

In accordance with an embodiment, the haptic feedback controller may befurther configured to generate a plurality of different hapticindicators on the haptic feedback interface by the plurality of hapticelements to discern a plurality of objects of the 3D real-world areawithin the first proximity range or the second proximity range from theassistive device. The plurality of different haptic indicators aregenerated by a touch-discernible modality that includes at least one ofa differential pressure-based modality, a differential temperature-basedmodality, a differential electric pulse-based modality, a differentialraised shape pattern-based modality, or a combination of differenttouch-discernible modalities.

In accordance with an embodiment, the assistive device may also includea first circuitry that may be configured to receive sensor data of the3D real-world area within the first proximity range or the secondproximity range of the assistive device in real time or near-real timefrom a plurality of sensors that are communicatively coupled to theassistive device. The assistive device may further include a secondcircuitry that may be configured to identify an object-type of each of aplurality of objects present within the first proximity range or thesecond proximity range of the assistive device based on the receivedsensor data.

In accordance with an embodiment, the haptic feedback controller may befurther configured to generate a plurality of different hapticindicators via the haptic feedback interface to discern differentidentified object-types of the plurality of objects present within thefirst proximity range or the second proximity range of the assistivedevice by tactioception based on a user touch on a defined region of thehaptic feedback interface. The second circuitry may be furtherconfigured to determine a scaling factor based on the difference betweenthe first proximity range and the second proximity range. Therate-of-change of movement of the one or more of haptic indicators ofthe first set of haptic indicators may be controlled in accordance withthe determined scaling factor.

In accordance with an embodiment, each of the first set of hapticindicators in the first touch-discernible output layout may be generatedas a protrusion of a defined shape-pattern from the haptic feedbackinterface. In some embodiments, a series of protrusions may be generatedalong a path on the haptic feedback interface to discern movement of anobject of the first set of moving objects within the first proximityrange by tactioception based on a user touch on the firsttouch-discernible output layout on the haptic feedback interface.

In accordance with an embodiment, the second circuitry may be configuredto acquire a first template map of the 3D real-world area within thefirst proximity range of the assistive device from a server. The firsttemplate map may be acquired based on a current position of theassistive device in the 3D real-world area. The first template map maybe updated with at least positional information of the first set ofmoving objects based on sensor data of the 3D real-world area within thefirst proximity range of the assistive device, received from a pluralityof sensors in real time or near-real time.

In accordance with an embodiment, the haptic feedback controller may beconfigured to control output of an audio feedback by one or more audiooutput devices provided in the assistive device in combination with thefirst touch-discernible output layout or the second touch-discernibleoutput layout. The output of the audio feedback in combination with thefirst touch-discernible output layout or the second touch-discernibleoutput layout may be controlled for a non-visual multi-sense discern of3D real-world area within the first proximity range or the secondproximity range of the assistive device by a user of the assistivedevice. The non-visual multi-sense discern refers to discerning of thesurrounding 3D real-world area by a user using two or more human sensesother than sight (ophthalmoception). For example, based on a combinationof the hearing and touch sense, the 3D real-world area within the firstproximity range or the second proximity range of the assistive devicemay be perceived by a user of the assistive device. The output of theaudio feedback may be provided as the user navigates or transitions froma first location to a second location within the first proximity rangeor the second proximity range.

In accordance with an embodiment, the haptic feedback controller may befurther configured to execute a haptic zoom-in operation of a portion ofthe first touch-discernible output layout to increase a hapticresolution of the first touch-discernible output layout on the hapticfeedback interface based on a user input via the haptic feedbackinterface. The first touch-discernible output layout may be updated tothe second touch-discernible output layout based on the haptic zoom-inoperation.

In accordance with an embodiment, the first proximity range may begreater than the second proximity range. In some embodiments, the firstproximity range may be smaller than the second proximity range. Thefirst touch-discernible output layout may include a unique hapticindicator that corresponds to a position of a user of the assistivedevice. The unique haptic indicator of the first plurality of differenthaptic indicators generated on the haptic feedback interface may beindicative of a relative position of the user with respect to each ofthe plurality of objects present in the 3D real-world area within thefirst proximity range of the assistive device.

In accordance with an embodiment, the second touch-discernible outputlayout may also include the unique haptic indicator that corresponds toa current position of the user of the assistive device on the secondtouch-discernible output layout. The unique haptic indicator of thesecond plurality of different haptic indicators generated on the hapticfeedback interface may be indicative of a relative position of the userwith respect to each of the plurality of objects present in the 3Dreal-world area within the second proximity range of the assistivedevice.

FIG. 1 illustrates an exemplary environment for providing non-visualassistance to a user by an assistive device, in accordance with anembodiment of the disclosure. With reference to FIG. 1 , there is shownan exemplary environment 100. The exemplary environment 100 may includean assistive device 102, a plurality of different types of sensors 104,a server 106, a first communication network 108A, a second communicationnetwork 108B, and one or more users, such as a user 110. The assistivedevice 102 may include a haptic feedback interface 112. The assistivedevice 102 may be communicatively coupled to the plurality of differenttypes of sensors 104 via the first communication network 108A or thesecond communication network 108B. The assistive device 102 may becommunicatively coupled to the server 106 via the second communicationnetwork 108B.

The assistive device 102 may include suitable logic, circuitry, and/orcode to generate a first touch-discernible output layout on the hapticfeedback interface 112. The first touch-discernible output layout maycorrespond to a first reproduction of a three-dimensional (3D)real-world area within a first proximity range of the assistive device102. The first touch-discernible output layout may be updated to asecond touch-discernible output layout based on a change of the firstproximity range to a second proximity range. The 3D real-world areasurrounding the user 110 may be an indoor area or an outdoor area.Examples of implementation of the assistive device 102 may include, butare not limited to a special-purpose portable assistive device,special-purpose hand gloves, special-purpose shoes, or a wearable devicethat may be worn as a wrist band, wrapped around arms, or any part ofhuman body or as a shoe sole.

The plurality of different types of sensors 104 may comprise suitablelogic, circuitry, and/or interfaces that may be configured to detect oneor more cues of the 3D real-world area surrounding the user 110, andgenerate a corresponding output, such as sensor data. The plurality ofdifferent types of sensors 104 may include wearable sensors that may beworn by the user 110, sensors that may be integrated with the assistivedevice 102, or other personal devices, such as a smartphone, of the user110. The plurality of different types of sensors 104 refers to aplurality of different types of sensors. Examples of the plurality ofdifferent types of sensors 104 may include, but are not limited to, amotion sensor (such as an accelerometer and a gyroscope), a locationsensor (such as a global positioning system (GPS) sensor), a directiondetecting sensor (such as a compass or magnetometer), an image-capturedevice (such as a stereoscopic camera, 360 degree camera, a wide-anglecamera, or other image sensors), an atmospheric pressure detectionsensor (such as a barometer), a depth sensor, an altitude detectionsensor (such as altimeter), a lux meter, a radio frequency (RF) sensor,an ultrasound sensor, or an object detection sensor (such as Radar,Light Detection and Ranging (LIDAR), and an infrared (IR) sensor).

The server 106 may comprise suitable logic, circuitry, interfaces,and/or code that may be configured to store satellite imagery, streetmaps, and 360 degree panoramic views of streets of various geographicalareas. In some embodiments, the server 106 may be configured tocommunicate a first template map of the 3D real-world area for alocation of the assistive device 102, based on a template map requestfor the location received from the assistive device 102. In accordancewith an embodiment, the server 106 may be configured to store historicalusage pattern data of a plurality of different users, such as the user110. Examples of the server 106 may include, but are not limited to, acloud server, an application server, a database server, a web server, afile server, and/or any combination thereof.

The first communication network 108A may be a medium that may enablecommunication between the assistive device 102 and the plurality ofdifferent types of sensors 104. The first communication network 108A maybe implemented by one or more wired or wireless communicationtechnologies known in the art. The first communication network 108A mayrefer to a short-range or medium-range wireless communication network.Examples of wireless communication networks may include, but are not belimited to, a Wireless-Fidelity (Wi-Fi) based network, a Light-Fidelity(Li-Fi) based network, a wireless personal area network (WPAN) such as aBLUETOOTH™ network, Internet-of-Things (IoT) network,Machine-Type-Communication (MTC) network, and/or a Wi-Max based network.

The second communication network 108B may be a medium that mayfacilitate communication between the assistive device 102 and the server106. The second communication network 108B may be implemented by one ormore wireless communication technologies known in the art. Examples ofthe wireless communication networks may include, but not limited to, theInternet, a cloud network, a wireless wide area network (WWAN), a LocalArea Network (LAN), a plain old telephone service (POTS), a MetropolitanArea Network (MAN), or a cellular or mobile network, such as GlobalSystem for Mobile Communications (GSM), General Packet Radio Service(GPRS), Enhanced Data Rates for GSM Evolution (EDGE), 1G, 2G, 3G, 4GLong Term Evolution (LTE), 5G, IEEE 802.11, 802.16, and the like.

The haptic feedback interface 112 may comprise a plurality of hapticelements. In accordance with an embodiment, the haptic feedbackinterface 112 may refer to a haptic output interface configured toprovide at least a touch-discernible output to the user 110. In someembodiments, the haptic feedback interface 112 may refer to a hapticinput/output (I/O) interface configured to receive haptic input as wellas provide haptic output to the user 110 from the same haptic I/Ointerface. It is known that the sense of touch has a much greatersensory resolution than the sense of sight. Hence, the sense of touchcan detect even small changes on a surface that the eye cannot detect.This principle of the sense of touch may be used to guide the design ofthe haptic feedback interface 112.

In accordance with an embodiment, the user 110 may be a person who havelost or impaired the sense of sight. The user 110 may want to learn andunderstand about the surrounding world. It is known that sighted peoplevisualize the surrounding world by detection of edges between areas ofdifferent wavelengths of light, which is then perceived as differentcolors by the brain. Based on feedback from the visual system, visualpart of the brain referred to as visual cortex, processes visualinformation of the surrounding world to enable the sighted people tovisualize the surrounding world. It is also known the loss of one ormore senses, such as the sense of sight, generally results inenhancement of one or more of the remaining senses, such as sense oftouch, hearing, smell, or taste, to compensate for the lost sense(s).The assistive device 102 harnesses the non-visual senses, such as thesense of touch, hearing, or smell, to assist users, such as the user110, who have lost or impaired the sense of sight for enhanced andaccurate understanding of the 3D real-world area surrounding the user110. The assistive device 102 may also be used even by sighted people incertain situations where human vision is of limited use, for example, inareas that are devoid or partially devoid of light, for example, duringnight to augment sense of sight using other human senses, such asaudioception, olfacoception, and tactioception.

In operation, the assistive device 102 may be configured to receivesensor data of the 3D real-world area within the first proximity rangeof the assistive device 102 from the plurality of different types ofsensors 104 that are communicatively coupled to the assistive device102. The plurality of different types of sensors 104, for example, mayinclude the location sensor, the motion sensor, the RF sensor, theultrasound sensor, the IR sensor, or other types of object detectionsensor (such as Radar or LIDAR), and an image-capture device. Theimage-capture device may refer to a stereoscopic camera, 360 degreecamera, a night vision camera, a wide-angle camera, or other imagesensors or their combination. Thus, in certain scenarios, where one typeof sensor may not capture accurate information of the 3D real-world areawithin the first proximity range of the assistive device 102, othertypes of sensors may compliment and capture of information of the 3Dreal-world area.

In accordance with an embodiment, the plurality of different types ofsensors 104 may include sensors, for example, rain sensors, altimeter,lux meter, barometer, and the like, that senses environmental conditionsand/or characteristics, such as weather conditions or lightingconditions). Based on the environmental conditions and/orcharacteristics, information of the 3D real-world area acquired from afirst group of sensors of the plurality of different types of sensors104 may be assigned a higher weigh value (i.e. preferable) thaninformation acquired from a second group of sensors of the plurality ofdifferent types of sensors 104. The classification of sensors in thefirst group of sensors and the second group of sensors may be done basedon defined criteria and the sensed environmental conditions and/orcharacteristics. The defined criteria, for example, may be defined rulesbased on known accuracy of information detected in different environmentconditions from each sensor. For example, in certain weather condition,the information, such as images captured from the image-capture devicemay not be useful. In such cases, the sensor data from the RF sensor,LIDAR, ultrasound sensor, or the like, may be provided higher weightvalue as compared to the sensor data from the image-capture device.

In accordance with an embodiment, the sensor data received from each ofthe plurality of different types of sensors 104 may be in differentformats. The assistive device 102 may be configured to transform thereceived sensor data into a common format to enable a correlation ofinformation received from one sensor to other sensor of each of theplurality of different types of sensors 104. The sensor data fromdifferent input sources (i.e. the plurality of different types ofsensors 104 may be processed concurrently into a common format.

In accordance with an embodiment, the assistive device 102 may beconfigured to generate a first touch-discernible output layout on thehaptic feedback interface 112 using the plurality of haptic elements.The first touch-discernible output layout may correspond to a firstreproduction of the 3D real-world area within a first proximity range ofthe assistive device 102. The first touch-discernible output layoutincludes at least a first set of haptic indicators to discern movementof a first set of moving objects within the first proximity range. Theassistive device 102 may be configured to update the firsttouch-discernible output layout to a second touch-discernible outputlayout based on a change of the first proximity range to a secondproximity range. An example of the update of the first touch-discernibleoutput layout to the second touch-discernible output layout is shown anddescribed, for example, in FIG. 6B.

The assistive device 102 may be configured to control a rate-of-changeof movement of one or more of haptic indicators of the first set ofhaptic indicators or a second set of haptic indicators on the hapticfeedback interface 112. The rate-of-change of movement may be controlledbased a difference between the first proximity range and the secondproximity range. For example, in cases where a sighted user looks veryfar (e.g. beyond “X” meters) in the 3D real-world area, the changes,such as movement of objects, may appear slow as compared to when thesighted user looks nearby (i.e. up to “Y” meters). In cases where thesighted user looks nearby (e.g. Y=30 meters), the changes, such asmovement of objects, appears to be fast. Thus, in haptic domain, the oneor more of haptic indicators of the first set of haptic indicators orthe second set of haptic indicators that indicate moving objects may becontrolled in accordance with the difference between the first proximityrange and the second proximity range (i.e. “X-Y”) for a realisticdiscerning of the 3D real-world area in accordance with the change inthe proximity range, for example from far-to-near or from near-to-far.An exemplary control of the rate-of-change of movement of the one ormore haptic indicators in the second touch-discernible output layout isshown and described, for example, in FIG. 6B.

The somatic sensory system of human body is responsible for the sense oftouch and has sensory touch or pressure receptors that enable a human todetect and feel when something comes into contact with skin. The senseof touch may also be referred to as somatic senses or somesthetic sensesthat include proprioception (e.g. sense of position and movement) orhaptic perception. Typically, such sensory receptors for sense of touchare present, for example, on the skin, epithelial tissues, muscles,bones and joints, and even on certain internal organs of the human body.In some embodiments, the assistive device 102 may be implemented as oneor more wearable devices that may be worn around at different parts ofthe human body. Examples of the implementation of the assistive device102 as wearable assistive device or a combination of the wearable andhand-held assistive device are shown, for example, in FIGS. 3, 4A, 4B,and 5 .

FIG. 2A is a block diagram that illustrates an exemplary assistivedevice for non-visually discerning a 3D real-world area surrounding auser of the assistive device, in accordance with an embodiment of thedisclosure. FIG. 2A is explained in conjunction with elements from FIG.1 . With reference to FIG. 2A, there is shown the assistive device 102.The assistive device 102 may include a processing section 202, a sensorsection 204, and a user interface section 206. The processing section202 may include a first circuitry 208, a second circuitry 210, and amemory 212. The sensor section 204 may include a plurality ofmicrophones 214 and a sensor cluster unit 216. The sensor cluster unit216 may include at least a biometric sensor 216A. The user interfacesection 206 may include the haptic feedback interface 112, a hapticfeedback controller 220, and one or more audio-output devices, such as afirst audio-output device 224A and a second audio-output device 224B.The haptic feedback interface 112 may include a plurality of hapticelements 218. The haptic feedback controller 220 may include a hapticfeedback generator 222.

In accordance with an embodiment, the assistive device 102 may becommunicatively coupled to the plurality of different types of sensors104 through the first communication network 108A and/or the secondcommunication network 108B, by use of the first circuitry 208. Thesecond circuitry 210 may be communicatively coupled to the memory 212,and the various components of the sensor section 204 and the userinterface section 206, via a system bus.

The first circuitry 208 may comprise suitable logic, circuitry,interfaces, and/or code that may be configured to receive sensor data ofthe 3D real-world area within a defined proximity range (such as thefirst proximity range or the second proximity range) of the assistivedevice 102. The sensor data of the 3D real-world area may be receivedfrom the plurality of different types of sensors 104, via the firstcommunication network 108A. In some embodiments, the one or more sensorsof the plurality of different types of sensors 104 may be provided as apart of the sensor cluster unit 216 as integrated sensors. In such acase, the sensor data may be acquired by the system bus for processingby the second circuitry 210. The first circuitry 208 may be furtherconfigured to communicate with external devices, such as the server 106,via the second communication network 108B. The first circuitry 208 mayimplement known technologies to support wireless communication. Thefirst circuitry 208 may include, but are not limited to, a transceiver(e.g. a radio frequency (RF) transceiver), an antenna, one or moreamplifiers, a tuner, one or more oscillators, a digital signalprocessor, a coder-decoder (CODEC) chipset, a subscriber identity module(SIM) card, and/or a local buffer.

The first circuitry 208 may communicate via wireless communication withnetworks, such as the Internet, an Intranet and/or a wireless network,such as a cellular telephone network, a wireless local area network(WLAN), a personal area network, and/or a metropolitan area network(MAN). The wireless communication may use any of a plurality ofcommunication standards, protocols and technologies, such as GlobalSystem for Mobile Communications (GSM), Enhanced Data GSM Environment(EDGE), wideband code division multiple access (W-CDMA), code divisionmultiple access (CDMA), LTE, time division multiple access (TDMA),BLUETOOTH™, Wireless Fidelity (Wi-Fi) (such as IEEE 802.11a, IEEE802.11b, IEEE 802.11g, IEEE 802.11n, and/or any other IEEE 802.11protocol), voice over Internet Protocol (VoIP), Wi-MAX,Internet-of-Things (IoT) technology, Li-Fi, Machine-Type-Communication(MTC) technology, a protocol for email, instant messaging, and/or ShortMessage Service (SMS).

The second circuitry 210 may refer a digital signal processor (DSP). Thesecond circuitry 210 may comprise suitable logic, circuitry, interfaces,and/or code that may be configured to generate a 3D digital model of the3D real-world area within the first proximity range based on theprocessing of the transformed sensor data in the common format. Thegenerated 3D digital model may then be used to generate the firsttouch-discernible output layout on the haptic feedback interface 112using the plurality of haptic elements 218. The assistive device 102 maybe a programmable device, where the second circuitry 210 may executeinstructions stored in the memory 212. Other implementation examples ofthe second circuitry 210 may include, but are not limited to aspecialized DSP, a Reduced Instruction Set Computing (RISC) processor,an Application-Specific Integrated Circuit (ASIC) processor, a ComplexInstruction Set Computing (CISC) processor, and/or other processors.

The memory 212 may comprise a learning engine. The second circuitry 210may be configured to determine one or more patterns in a plurality ofuser interactions on the haptic feedback interface 112 over a period oftime based on a track of a usage pattern of the assistive device 102 bythe learning engine. The memory 212 may include suitable logic,circuitry, and/or interfaces that may be configured to store a set ofinstructions executable by the second circuitry 210. The memory 212 maybe further configured to temporarily store one or more captured mediastreams, such as one or more videos or images of the 3D real-world areawithin the first proximity range or the second proximity range as imagebuffer for processing by the second circuitry 210. The memory 212 mayalso store usage history, an amount of pressure exerted by the user 110while touching the haptic feedback interface 112 in the plurality ofuser interactions on the haptic feedback interface 112 over a period oftime. The memory 212 may also store input and output preference settingsby the user 110. Examples of implementation of the memory 212 mayinclude, but not limited to, a random access memory (RAM), a dynamicrandom access memory (DRAM), a static random access memory (SRAM), athyristor random access memory (T-RAM), a zero-capacitor random accessmemory (Z-RAM), a read only memory (ROM), a hard disk drive (HDD), asecure digital (SD) card, a flash drive, cache memory, and/or othernon-volatile memory.

The plurality of microphones 214 may comprise suitable circuitry and/orinterfaces to receive an audio input. In accordance with an embodiment,the audio input may be provided by the user 110. The audio input maycorrespond to a voice input to the assistive device 102. In accordancewith an embodiment, the plurality of microphones 214 may be muted ordisabled in accordance with user preferences. The plurality ofmicrophones 214 may include multiple microphones to capture soundemanating from the first proximity range of the user 110 of theassistive device 102. Each microphone of the plurality of microphones214 may be fitted at different locations of the assistive device 102 asshown and described, for example, in FIG. 5 .

The sensor cluster unit 216 may include a biometric sensor 216A, such asa fingerprint sensor, to decipher the identity of a user, such as theuser 110. In certain scenarios, the assistive device 102 may be used bymultiple users, for example, users of a same family, or group. In such acase, based on user authentication by use of the biometric sensor, adifferent usage profile and user settings may be loaded for differentusers. In some embodiments, the sensor cluster unit 216 may also includea temperature sensor and a pressure sensor to gauge pressure applied bya user, such as the user 110, on the haptic feedback interface 112. Insome embodiments, one or more sensors of the plurality of differenttypes of sensors 104 may be a part of the sensor cluster unit 216. Forexample, the sensor cluster unit 216 may include the location sensor,the image sensor, the RF sensor, the accelerometer, the gyroscope, thecompass, the magnetometer, an integrated image-capture device, the depthsensor, the altimeter, a lux meter, an ultrasound sensor, the IR sensor,or one or more weather sensors.

The haptic feedback interface 112 may comprise the plurality of hapticelements 218. The plurality of haptic elements 218 may refer to an arrayof cylindrical tubes arranged at the surface of the haptic feedbackinterface 112. A person of ordinary skill in the art may understand thatshape of each tube may be variable, such as conical, hexagonal, or otherpolygonal shapes, without departing from the scope of the disclosure. Inaccordance with an embodiment, the plurality of haptic elements 218 maybe arranged as a layer (of array of cylindrical tubes) on the hapticfeedback generator 222 such that a haptic signal may be generated by thehaptic feedback generator 222 through each of the plurality of hapticelements 218. In accordance with an embodiment, one end (e.g. a proximalend) of each tube of the array of cylindrical tubes may be coupled tothe haptic feedback generator 222, and the other end (e.g. a distal end)may be interspersed on the haptic feedback interface 112 such that aplurality of differential touch-discernible cues generated by the hapticfeedback generator 222 in conjunction with the plurality of hapticelements 218 are discernible on the haptic feedback interface 112 by thesense of touch.

The haptic feedback controller 220 may comprise suitable circuitry andinterfaces to control output of a touch-discernible feedback on thehaptic feedback interface 112 by the haptic feedback generator 222. Thehaptic feedback controller 220 may be configured to sense a haptic userinput via plurality of haptic elements 218 based on a defined amount ofpressure detected at one or more haptic elements of the plurality ofhaptic elements 218. The haptic feedback controller 220 includes thehaptic feedback generator 222.

The haptic feedback generator 222 may facilitate generation of thetouch-discernible haptic output layouts on the haptic feedback interface112 under the control of the haptic feedback controller 220. The hapticfeedback generator 222 may include one or more differential pressuregenerating units, differential electric pulse generating units,shape-pattern extension and retraction units, differential temperaturegenerating units, and a level of protrusion setter to control elevationof raised shape patterns, such as spikes through the plurality of hapticelements 218. The haptic feedback generator 222 may be configured togenerate a plurality of different haptic indicators by use of one ormore of the differential pressure generating units, differentialelectric pulse generating units, shape-pattern extension and retractionunits, differential temperature generating units, and the level ofprotrusion setter to control elevation of raised shape pattern.

The one or more audio-output devices 224, such as the first audio-outputdevice 224A and the second audio-output device 224B, may comprisesuitable circuitry and/or interfaces to generate an audio output for theuser 110. In accordance with an embodiment, the audio output may begenerated in-sync with the touch-discernible haptic output layoutgenerated on the haptic feedback interface 112. In accordance with anembodiment, the audio output may be generated in-sync with a hapticinput received on the haptic feedback interface 112 for multi-sensediscern of the touch-discernible output layouts in different proximityrange for enhanced understanding of the surrounding of the user 110. Thehaptic input may be detected by the haptic feedback controller 220 byuse of the pressure sensor of the sensor cluster unit 216. In accordancewith an embodiment, the one or more audio-output devices 224 may bemuted or disabled based on a time-of-day or for a specific location,such as a public library where silence is solicited. Though FIG. 2A isshown to include two audio-input devices, a person of ordinary skill inthe art may understand that the assistive device 102 may include asingle audio-input device, or more than two audio-input devices. Theother speakers may be placed at corners, for example, at extreme leftand right corners of the assistive device 102, to aid in voice-basednavigation of the user 110 as the user 110 moves with the assistivedevice 102 from one location to another location in the 3D real-worldarea. In some embodiments, one or more audio-input devices may beprovided or worn at different parts of the body (for example, as shownin FIGS. 3, 4A, 4B, and 5 ) of the user 110 for voice-based navigationof the user 110 as the user 110 moves with the assistive device 102 fromone location to another location in the 3D real-world area. Suchvoice-based navigation may be provided in combination to the generatedtouch-discernible feedback, which may act synergistically to provideenhanced navigation assistance to the user 110 in a real time ornear-real time as the user 110 moves in the 3D real-world area.

Each of the one or more wearable pads 226 may refer to a suitable padthat acts as a substrate for the assistive device 102. Each of the oneor more wearable pads 226 may be water-resistant pads suitable to beworn on different parts of the human body, such as forearms (FIG. 3 ),limbs (FIG. 5 ), waist (FIG. 5 ). In accordance with an embodiment, eachof the one or more wearable pads 226 may be designed such that thehaptic feedback interface 112 may be in contact to the skin of the humanbody. The pad fasteners 228 refer to detachable fasteners that allow thetwo terminal portions of each of the one or more wearable pads 226 todetachably affix with each other. Examples of the pad fasteners 228 mayinclude, but are not limited to clips, hook and loop fastener,detachable straps, buttons, and the like.

In operation, the second circuitry 210 may be configured to detect acurrent location of the assistive device 102, by use of the locationsensor. As the user 110 may be equipped with the assistive device 102,the location of the assistive device 102 may be same as that of the user110. The location sensor may be an integrated sensor of the assistivedevice 102 provided in the sensor cluster unit 216 or may be one of theplurality of different types of sensors 104. The second circuitry 210may be configured to check whether a first template map of a 3Dreal-world area for the detected current location of the assistivedevice 102, is available. In some embodiments, where the first templatemap of the 3D real-world area is available, the first circuitry 208 maybe configured to acquire the first template map of the 3D real-worldarea within the first proximity range (e.g. the first proximity range602) of the assistive device 102. The first template map may be acquiredfrom the server 106 based on the current location of the assistivedevice 102. In some embodiments, the memory 212 may store 2D/3D maps ofgeographical regions of the earth surface, such as street views. In sucha case, the second circuitry 210 may be configured to retrieve the firsttemplate map of the 3D real-world area from the memory 212. The firsttemplate map may be available for certain outdoor areas, whereas suchmaps may not be available for indoor areas.

In accordance with an embodiment, the first circuitry 208 may beconfigured to receive sensor data of the 3D real-world area within thefirst proximity range of the assistive device 102 from the plurality ofdifferent types of sensors 104 that are communicatively coupled to theassistive device 102. In some embodiments, the sensor data may also bereceived from the sensor cluster unit 216. In some embodiments, thefirst template map of a 3D real-world area may not be acquired, forexample, in case of indoor locations or for regions where the firsttemplate map may not be available. In such a case, the sensor data ofthe 3D real-world area received in real time or near-real time may beused to collect information of the 3D real-world area within the firstproximity range of the assistive device 102.

In accordance with an embodiment, the second circuitry 210 may befurther configured to identify the object-type of each of the pluralityof different objects present within the first proximity range of theassistive device 102 based on the received sensor data. The secondcircuitry 210 may be configured to determine a relative position of eachof the plurality of objects with respect to the position of the user 110of the assistive device 102. The relative position of each of theplurality of objects may be determined based on the sensor data receivedin real time or near-real time from the plurality of different types ofsensors 104 worn by the user 110. The second circuitry 210 may beconfigured to determine a height of each of the first plurality ofobjects from the perspective of the height of the user 110 of theassistive device 102. The second circuitry 210 may be further configuredto update the first template map in real time or near-real time based onthe sensor data of the 3D real-world area.

The second circuitry 210 may be configured to determine the speed andthe direction of travel of each of a first set of moving objects of thefirst plurality of objects within the first proximity range. Inaccordance with an embodiment, the second circuitry 210 may beconfigured to select a first touch-discernible modality from a pluralityof touch-discernible modalities to generate a plurality of differenthaptic indicators on the haptic feedback interface 112. The selection ofthe first touch-discernible modality may be based on learned userinteraction information and a current weather condition in the 3Dreal-world area for the detected current location of the assistivedevice 102. The learned user interaction information may be determinedbased on a historical analysis of usage pattern data of the hapticfeedback interface 112 by the learning engine provided in the memory212. The plurality of touch-discernible modalities includes adifferential pressure-based modality, a differential temperature-basedmodality, a differential electric pulse-based modality, a differentialraised shape pattern-based modality. In some embodiments, a combinationof different touch-discernible modalities may be selected based on thelearned user interaction information, the current weather condition inthe 3D real-world area, and a specified user-setting.

The differential pressure-based modality refers to generation of theplurality of different haptic indicators as multi-level pressure ordifferent amount of pressure on the haptic feedback interface. A user,such as the user 110, may feel different amount of pressure at differentpoints (or portions) on the haptic feedback interface 112, which enablesthe user 110 to discern certain characteristics, for example,positioning or object-type of the plurality of objects, of the 3D realworld area by touch on the haptic feedback interface 112. Similarly, thedifferential temperature-based modality refers to generation of theplurality of different haptic indicators as different temperatures, forexample, different combination of hot and cold temperatures, on thehaptic feedback interface 112. The different level of temperature mayenable the user 110 to discern, certain characteristics, for example,positioning or object-type of the plurality of objects, of the 3D realworld area by touch on the haptic feedback interface 112. Thedifferential electric pulse-based modality refers to generation of theplurality of different haptic indicators as different level ofelectric-pulses on the haptic feedback interface 112. The differentlevel of electric-pulses may enable the user 110 to feel, certaincharacteristics, for example, positioning or object-type of theplurality of objects, of the 3D real world area by touch on the hapticfeedback interface 112. The different level of electric-pulses may befelt as different amount of pain or pricking points. The differentialraised shape pattern-based modality refers to generation of theplurality of different haptic indicators as a plurality of protrusionsof different shapes that may be extended from the surface of the hapticfeedback interface 112. Each protrusion may be a raised shape-pattern ora bulge that may stick out from at least one or a group of hapticelements of the plurality of haptic elements of the haptic feedbackinterface 112. The plurality of protrusions may represent the pluralityof objects of the 3D real-world area within the first proximity range orthe second proximity range. An example of the generation of theplurality of different haptic indicators as the plurality of protrusionsof different shapes, is shown and described, for example, in FIG. 6B.

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to generate the first touch-discernible output layout onthe haptic feedback interface 112 using the plurality of haptic elements218 and the haptic feedback generator 222. The first touch-discernibleoutput layout may be generated using the selected firsttouch-discernible modality from the plurality of touch-discerniblemodalities. The first touch-discernible output layout may correspond toa first reproduction of the 3D real-world area within the firstproximity range of the assistive device 102. The first touch-discernibleoutput layout may be generated using a modified 3D digital model of the3D real-world area. The modified 3D digital model of the 3D real-worldarea by the second circuitry 210 based on the received sensor data. Themodified 3D digital model may be generated by removal of one or moreirrelevant objects in the 3D real-world area within the first proximityrange. The relevancy and irrelevancy of each object in the firstplurality of objects may be estimated with respect to the detectedcurrent position of the assistive device 102, and the relativepositioning of each object of the first plurality of objects from aground level at which the user 110 is located. For example, a fly-overin the 3D real-world area may not be relevant or useful while the user110 may move below the fly-over at the ground level. Removal ofirrelevant objects detected in the 3D real-world area within the firstproximity range for the generation of the modified 3D digital model, maysignificantly save the processing time and battery power consumption forthe generation of the first touch-discernible output layout.

The first touch-discernible output layout may include at least a firstset of haptic indicators to discern movement of the first set of movingobjects within the first proximity range. The first touch-discernibleoutput layout may be a first 3D layout that comprises a first pluralityof different haptic indicators. The first plurality of different hapticindicators may be spatially arranged on the haptic feedback interface112 in a defined region such that a spatial arrangement of the firstplurality of objects in the 3D real-world area within the firstproximity range of the assistive device 102 is discernible bytactioception based on a user touch on the first touch-discernibleoutput layout. The first touch-discernible output layout may alsoinclude a unique haptic indicator that corresponds to a position of theuser 110 of the assistive device 102. The unique haptic indicator may beone of the first plurality of different haptic indicators generated onthe haptic feedback interface 112. The unique haptic indicator may beindicative of a relative position of the user 110 with respect to eachof the first plurality of objects present in the 3D real-world areawithin the first proximity range of the assistive device 102. It may beadvantageous to include the unique haptic indicator that isrepresentative of the user 110 as it enables the user 110 tonon-visually discern the 3D real-world area from the perspective of theuser 110 in the first proximity range by a touch on the unique hapticindicator followed by touch on other haptic indicators of the firstplurality of different haptic indicators generated on the hapticfeedback interface 112.

As the sensor data is received from different input sources (i.e. theplurality of different types of sensors), the computation of therelative position of each of the plurality of objects with respect tothe position of the user 110 of the assistive device 102, may be fasterand more accurate as compared to sensor data received exclusively fromone type of sensor, such as the image-capture device or in differentenvironmental or weather conditions, for example, rain, hailstorm,during night, and the like. Although, an approximate distance ofdifferent objects in an image frame may be estimated by imageprocessing, the distance or position of objects calculated from RFsensor or the LIDAR, may be faster and more accurate as compared to theimage-processing methods. This helps to quickly and accurately generatethe first touch-discernible output layout based on the generated commonformat of sensor data received from the plurality of different types ofsensors 104.

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to receive a user input at the assistive device 102 tochange the first proximity range to a second proximity range. In someembodiments, the haptic feedback controller 220 may be configured toreceive the user input via the haptic feedback interface 112 to initiateat least one of a haptic zoom-in feature or a haptic zoom-out feature.In some embodiments, the haptic feedback controller 220 may beconfigured to receive the user input by a proximity range setter (e.g.the proximity range setter 506) of the assistive device 102. Inaccordance with an embodiment, the first proximity range may be greaterthan the second proximity range. In accordance with an embodiment, thefirst proximity range may be smaller than the second proximity range.

In accordance with an embodiment, the second circuitry 210 may beconfigured to calibrate the one or more of the plurality of differenttypes of sensors 104 to receive sensor data in accordance with thesecond proximity range. The second circuitry 210 may be configured todetermine the speed and the direction of travel of each of a second setof moving objects of a second plurality of objects within the secondproximity range. The second circuitry 210 may be configured tomonitor/track the relative position of each of the second plurality ofobjects with respect to the position of the user 110 of the assistivedevice 102. The relative position of each of the second plurality ofobjects may be monitored based on the sensor data of the secondproximity range received in real time or near-real time from theplurality of different types of sensors 104.

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to update the first touch-discernible output layout to thesecond touch-discernible output layout based on the change of the firstproximity range to the second proximity range. The secondtouch-discernible output layout may correspond to a second reproductionof the 3D real-world area based on the change of the first proximityrange to the second proximity range. The second touch-discernible outputlayout may be a second 3D layout that comprises a second plurality ofdifferent haptic indicators. The second plurality of different hapticindicators may be spatially arranged on the haptic feedback interface112 in the defined region such that a spatial arrangement of a secondplurality of objects in the 3D real-world area within the secondproximity range may be discernible by tactioception based on a usertouch on the second touch-discernible output layout. The secondplurality of different haptic indicators may include one or more hapticindicators of the first set of haptic indicators and/or a second set ofhaptic indicators to discern movement of the second set of movingobjects. The second set of moving objects may include one of moreobjects from the first set of moving objects and/or new objects detectedwithin the second proximity range.

The second touch-discernible output layout may also include the uniquehaptic indicator that corresponds to a current position of the user 110of the assistive device 102 on the second touch-discernible outputlayout. The unique haptic indicator of the second plurality of differenthaptic indicators generated on the haptic feedback interface 112 may beindicative of a relative (or updated) position of the user 110 withrespect to each of the second plurality of objects present in the 3Dreal-world area within the second proximity range of the assistivedevice 102.

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to execute a haptic zoom-in operation of a portion of thefirst touch-discernible output layout to increase a haptic resolution ofthe first touch-discernible output layout on the haptic feedbackinterface 112 based on the user input via the haptic feedback interface112. The first touch-discernible output layout may be updated to thesecond touch-discernible output layout based on the haptic zoom-inoperation. In accordance with an embodiment, the haptic feedbackcontroller 220 may be configured to execute a haptic zoom-out operationof a portion of the first touch-discernible output layout to decrease ahaptic resolution of the first touch-discernible output layout on thehaptic feedback interface 112 based on the user input via the hapticfeedback interface 112. The first touch-discernible output layout may beupdated to the second touch-discernible output layout based on thehaptic zoom-out operation.

In accordance with an embodiment, the second circuitry 210 may beconfigured to estimate a spatial scaling factor based on the differencebetween the first proximity range and the second proximity range. Thehaptic feedback controller 220 may be configured to control arate-of-change of movement of one or more of haptic indicators of thefirst set of haptic indicators or the second set of haptic indicators onthe haptic feedback interface 112. The rate-of-change of movement may becontrolled based on the update of the first touch-discernible outputlayout to the second touch-discernible output layout and a differencebetween the first proximity range and the second proximity range. Inaccordance with an embodiment, the haptic feedback generator 222 may beconfigured to continuously or periodically update secondtouch-discernible output layout to reflect change in positioning of themoving objects.

In accordance with an embodiment, the second circuitry 210 may beconfigured to determine (or compute) an audio scaling factor based onthe difference between the first proximity range and the secondproximity range. The haptic feedback controller 220 may be configured tocontrol output of an audio feedback by the one or more audio-outputdevices 224 of the assistive device 102 for the second touch-discernibleoutput layout. The output may be controlled in accordance with thedetermined audio scaling factor. The output of the audio feedback may becontrolled for a non-visual multi-sense discern of the 3D real-worldarea by the user 110 within the second proximity range. In someembodiments, the output of the audio feedback may be provided as theuser navigates from a first location to a second location within thesecond proximity range. In some embodiments, the output of the audiofeedback may be provided based on a haptic input detected on the hapticfeedback interface 112.

In a first example, the selected first touch-discernible modality fromthe plurality of touch-discernible modalities to generate a plurality ofdifferent haptic indicators on the haptic feedback interface 112, maycorrespond to a differential pressure-based modality. The plurality ofdifferent haptic indicators refers to the first plurality of differenthaptic indicators in the first touch-discernible output layout or thesecond plurality of different haptic indicators in the secondtouch-discernible output layout. The plurality of different hapticindicators may be generated as multi-level pressure or different amountof pressure on the haptic feedback interface 112 by the haptic feedbackgenerator 222. For example, a first object of the plurality of objectsin the 3D real-world area may be discernible by generating a hapticsignal through one or more haptic elements of the plurality of hapticelements 218 as a first amount of pressure. This first amount ofpressure may be felt by the user 110 when the user 110 touches aspecific portion, for example, a first portion, of the haptic feedbackinterface 112. Similarly, for each position of different objects of theplurality of objects, a different amount of pressure may be generated onthe haptic feedback interface 112. Thus, the user 110 may feel differentamount of pressure at different points (or portions) on the hapticfeedback interface 112. The different amount of pressure enables theuser 110 (by touch on the haptic feedback interface 112) to non-visuallydiscern the relative positioning of the plurality of objects of the 3Dreal world area. The different amount of pressure in the generated firsttouch-discernible output layout or the second touch-discernible outputlayout corresponds to the plurality of different haptic indicatorsgenerated as multi-level pressure.

In a second example, the selected first touch-discernible modality fromthe plurality of touch-discernible modalities to generate a plurality ofdifferent haptic indicators on the haptic feedback interface 112, maycorrespond to a differential temperature-based modality. In accordancewith an embodiment, the plurality of different haptic indicators may begenerated as different temperatures, for example, different combinationof hot and cold temperatures, on the haptic feedback interface 112 bythe haptic feedback generator 222. For each position of differentobjects of the plurality of objects, a different temperature level maybe generated on the haptic feedback interface 112 through one or morehaptic elements of the plurality of haptic elements 218. The differentlevel of temperature may enable the user 110 (by touch on the generatedfirst touch-discernible output layout or the second touch-discernibleoutput layout on the haptic feedback interface 112 to non-visuallydiscern the relative positioning of the plurality of objects includingthe user 110 in the 3D real world area within the first proximity rangeor the second proximity range.

In a third example, the selected first touch-discernible modality fromthe plurality of touch-discernible modalities to generate a plurality ofdifferent haptic indicators on the haptic feedback interface 112, maycorrespond to a differential electric pulse-based modality. In thiscase, the plurality of different haptic indicators may be generated asdifferent level of electric-pulses on the haptic feedback interface 112by the haptic feedback generator 222. For each position of differentobjects of the plurality of objects, a different level of electric-pulsemay be generated on the haptic feedback interface 112 through a hapticelement of the plurality of haptic elements 218. The different level ofelectric-pulses may enable the user 110 (by touch on the generated firsttouch-discernible output layout or the second touch-discernible outputlayout on the haptic feedback interface 112) to non-visually discern therelative positioning of the plurality of objects of the 3D real worldarea. The different amount of electric-pulses in each of the generatedfirst touch-discernible output layout or the second touch-discernibleoutput may correspond to the plurality of different haptic indicatorsgenerated as different level of electric-pulses. Further, when an objectof the plurality of objects moves in the 3D real-world area, anelectric-pulse (i.e. a haptic indicator) may also be felt on the hapticfeedback interface 122 to be moving as a continuous line from one pointof the haptic feedback interface 122 to another point to represent themovement and a direction of movement of the object of the plurality ofobjects in the 3D real-world area. The generation of electric-pulse(i.e. a touch-discernible cue) along a certain path on the hapticfeedback interface 122 may be synchronized to the actual movement of theobject in the 3D real-world area. This allows the user 110 to understandthe path of movement of the object via the haptic feedback interface112. In accordance with an embodiment, the synchronization of thegeneration of electric-pulse (i.e. a touch-discernible cue) along acertain path on the haptic feedback interface 122 may be controlledbased on the determined spatial scaling factor.

In a fourth example, the selected first touch-discernible modality fromthe plurality of touch-discernible modalities to generate a plurality ofdifferent haptic indicators on the haptic feedback interface 112, maycorrespond to a differential raised shape pattern-based modality. Inthis case, the plurality of different haptic indicators may be generatedas a plurality of protrusions of different shapes that are extended fromthe surface of the haptic feedback interface 112. The plurality ofprotrusions of different shapes are shown, for example, in FIG. 6B, asthe first plurality of different haptic indicators 626 a to 626 j. Eachprotrusion may be a raised shape-pattern or a bulge that sticks out fromat least one or a group of haptic elements of the plurality of hapticelements 218 of the haptic feedback interface 112. The plurality ofprotrusions represents the plurality of objects of the 3D real-worldarea within the first proximity range or the second proximity range. Oneshape may be assigned to one identified object-type of the plurality ofobjects of the 3D real-world area within the first proximity range toenable the user 110 to discern the object-type when the user 110 touchesa protrusion of a defined shape. For example, an oval shape protrusionmay denote a particular object-type, for example, a car. Examples of theoval shape protrusions may be the haptic indicators 626 e, 626 f, 626 g,and 630 c, as shown in FIG. 6B. A round protrusion may denote a humanbeing. Examples of the round protrusion may be the haptic indicators 626a, 626 b, 626 c, 630 a, and 630 b, as shown in FIG. 6B. A square-shapedprotrusion may denote a building, and a pole-like or a spike-likeprotrusion may denote a pillar or a pole in the 3D real-world areawithin the first proximity range. Examples of the square-shapedprotrusion may be the haptic indicators 626 h, 626 i, and 630 d, asshown and described in FIG. 6B. Thus, when the user 110 touches the ovalshape protrusion, the user 110 may readily identify the protrusion to bea car. Thus, similar to the sighted people who use information about thefeatures on the surface of an object, like color, shading, or overallsize, and shape, to recognize an object, the people who have lost thesense of sight may also have the capability to identify an object basedon a touch on the protrusion of a defined shape, where an association ofa particular shape with a particular object-type is learned by brain.

In accordance with an embodiment, the plurality of protrusions generatedon the haptic feedback interface 112 enables the user 110 to discern notonly the object-type but also a relative positioning of the plurality ofobjects and movement of one or more of the plurality of objects, fromthe perspective of the user 110. In accordance with an embodiment, theplurality of protrusions may be of same shapes. In such a case, althoughit may be relatively difficult to identify an object-type, however, therelative position and movement (if any) of each of the plurality ofobjects from the position of the user 110 may be easily discernible bytouch on the plurality of protrusions. Further, as the user 110 ispresent in the 3D real-world area, the user 110 may hear actual soundemanated from one or more objects of the plurality of objects. Hence,the user 110 may correlate the plurality of protrusions with theplurality of sounds to discern an object-type, an approximate distanceto an object of the plurality of objects, or movement of the first setof moving objects or the second set of moving objects. The hapticfeedback generator 222 may be configured to control the extending andthe retracting of the plurality of protrusions by use of the pluralityof haptic elements 218.

In accordance with an embodiment, the haptic feedback generator 222 maybe configured to control grouping of the plurality of haptic elements218 during extension to represent a particular shape for a protrusion.In accordance with an embodiment, the protrusion may be static or may bedeformable. The same protrusion may have different meanings based on thedeformation. An example of the deformation of the same protrusion (suchas the protrusion 230A to protrusions 230B, 230C, 230D, or 230E) isshown and described, for example, in FIG. 2B. In accordance with anembodiment, the plurality of protrusions may be generated by applicationof different temperatures on different surface area of the hapticfeedback interface 112. In such an embodiment, the haptic feedbackinterface 112 may include a covering on the haptic feedback interface112. The covering may be a polymer-based layer sensitive to temperature.The plurality of the haptic elements 218 may be arranged as the array ofcylindrical tubes below the covering. In cases where, a localized hightemperature is generated through one or a group of the haptic elementsof the plurality of haptic elements 218, a bulge may appear on thecovering of the haptic feedback interface 112. Similarly, differentbulge portions may represent the plurality of protrusions. In caseswhere, a localized low temperature is generated through one or a groupof the haptic elements of the plurality of haptic elements 218, thebulge may disappear or subside on the covering of the haptic feedbackinterface 112. Similarly, different bulge portions may represent theplurality of protrusions. Notwithstanding, the plurality of protrusionsmay be generated by various methods, such as by electro-chemicalprocess, electro-mechanical process, without limiting the scope of thedisclosure. In accordance with an embodiment, the plurality of differenthaptic indicators may be generated as different level of electric-pulsesor a different amount of pressure, such as pain points (or prickingpoints) that may represent the positioning or movement of the pluralityof objects of the 3D real world area in the generated firsttouch-discernible output layout or the second touch-discernible outputlayout.

In case of the assistive device 102 is a wearable device, as shown inFIGS. 3, 4A, 4B, and 5 , similar haptic indicators (e.g. differentamount of pressure, different level of electric-pulses, differenttemperatures (such as hold and cold), different shape patterns, staticor deformable protrusions, movement of haptic indicators), may be feltbased on the contact of the skin of the user 110 with the hapticfeedback interface 112 that may be wrapped on a body part, such aswaist, or arm, as a wearable band. The movement of a haptic indicator,for example, a particular electric-pulse running from one point toanother point of the haptic feedback interface 112, may further indicatea movement of an object of the plurality of objects in the 3D real-worldarea in the first proximity range or the second proximity range.

In certain scenarios, a user of the assistive device 102 may not be ableto use all the five fingers of a hand while touching the haptic feedbackinterface 112. This may be due to one or more missing fingers,restricted movement as a result of injury in one or more fingers, anailment, some bone fracture, or pain. In such cases, the haptic feedbackcontroller 220 may be configured to automatically detect suchimpairments or restricted movement of the five fingers of the hand whenthe hand is placed on the haptic feedback interface 112. In someembodiments, the sensor data from the image-capture device (that may beworn by the user 110) of the plurality of different types of sensors104, may be used to detect such impairments or restricted movement ofthe five fingers. The haptic feedback controller 220 may be configuredto generate a touch-discernible haptic output layout on the hapticfeedback interface 112 in accordance with the detected impairment. Forexample, the area on which the entire touch-discernible haptic outputlayout may be reduced or modified to suit the detected impairment. Theautomatic detection of the impairments may be done when the assistivedevice 102 is set in auto-mode using a mode control button (not shown).In some embodiments, the user 110 may switch a manual mode, where theuser 110 may provide input via the haptic feedback interface 112 toindicate a specific impairment, and configure the generation of thetouch-discernible haptic output layout based on the provided input thatindicates a particular impairment. In some embodiments, the functions ofthe control buttons, the haptic feedback interface 112, and theassistive device 102 may be configurable by the user 110 based on userinputs in a configuration mode. The configuration mode may be switched“ON” using a configure button (not shown) provided in the assistivedevice 102.

FIG. 2B illustrates exemplary protrusions on a haptic feedback interfaceof the assistive device of FIG. 2A for providing non-visual assistanceto a user, in accordance with an embodiment of the disclosure. Withreference to FIG. 2B, there is shown a surface portion of the hapticfeedback interface 112 with protrusions 230A to 230E and 232A atdifferent time instants 234A to 234E.

At time instant 234A, the protrusion 230A may be generated on thesurface portion of the haptic feedback interface 112 by the hapticfeedback generator 222. At time instant 234B, the protrusion 230A (thesame protrusion) may deform into a different shape, as shown by theprotrusion 230B. At next time instant, such as the time instant 234C,the protrusion 230B may deform further to another shape, such as theprotrusion 230C, or return to its original shape, such as the protrusion230A. The same protrusion, such as the protrusion 230A, may havedifferent meanings based on the deformation (as indicated by protrusions230B, 230C, 230D, 230E). For example, the user 110 may be present on ariver side and use the assistive device 102 to generate a haptictouch-discernible output of the 3D real world area surrounding the user110. The protrusion 230A may be a haptic indicator generated on thehaptic feedback interface 112. The protrusion 230A, for example, mayrepresent water body (such as a river or a pond) ahead of the user 110.The protrusion 230A may be a constantly deforming protrusion (e.g.deformed from protrusion 230A to the protrusions 230B and 230C) atdifferent time instants 234A, 234B, and 234C. Based on a touch on theconstantly deforming protrusion (such as the protrusion 230A), the user110 may discern not only a presence of a water-body, such as the river,based on a touch on the constantly deforming protrusion but also anexact location of the river, and the relative position of the user 110from the water body in the generated haptic touch-discernible output.

In another example, the deformation of the protrusion 230A may torepresent a sudden change in the 3D real-world area. For example, a 3Dreal-world area surrounding the user 110 may include a sportsman in aplayground. The sportsman while playing a game may be standing on theplayground or may be walking, and suddenly fell down. In such as a case,the protrusion 230A may be at a first level of elevation from thesurface portion of the haptic feedback interface 112. The protrusion230A may then be deformed to the protrusion 230D to represent a suddenchange for the same object (e.g. the sportsman) in the 3D real-worldarea. The sudden change may be discernible by the user 110 by touchingthe protrusion 230A and feeling it to deform to some other shape or asecond level of elevation, such as the protrusion 230D. The second levelof elevation may be different than the first level of elevation. Theprotrusion 230E, for example, shows a deformation of the protrusion 230Awhere the size of the protrusion 230A is reduced. Thus, the sameprotrusion may have different meanings based on the deformation.

In accordance with an embodiment, the plurality of different hapticindicators may be generated as a plurality of protrusions of differentshapes that are extended from the surface of the haptic feedbackinterface 112. The plurality of protrusions of different shapes areshown, for example, in FIG. 6B, as the first plurality of differenthaptic indicators 626 a to 626 j. For example, a round shape isindicative of human being, an oval shape may be indicative of vehicles,the square shape is indicative of buildings, the triangle shape isindicative of animal, the raised tapering lines may be indicative of astreet. Different shapes generated by the haptic feedback generator 222,may not be limited to the oval, round, square, triangle, and othershapes, for example, any polygonal shapes may be generated based onuser-preference. In accordance with an embodiment, the shape of aprotrusion may be customized by users of the assistive device 102 inaccordance with their needs or preferences. For example, a voice commandmay be provided by the user 110, for example, “generate a star-shapedpattern to represent a building”. At least one of plurality ofmicrophones 214 may capture the voice command. The second circuitry 210may be configured to interpret the voice command and instruct the hapticfeedback controller 220 to generate a star-shaped protrusion based onthe interpreted voice command. The haptic feedback controller 220 may beconfigured to generate the protrusion 232A, which may be in a customizedshape, such as the star-shaped pattern. In some embodiments, thecustomization of shape patterns may be done via the haptic feedbackinterface 112 using one or more control buttons (not shown).

FIG. 3 illustrates a first exemplary implementation of the exemplaryassistive device of FIG. 2A as a wearable assistive device for providingnon-visual assistance to a user, in accordance with an embodiment of thedisclosure. With reference to FIG. 3 , there is shown the assistivedevice 102 worn by the user 110 as a wearable assistive device, which isdescribed in conjunction with elements from FIGS. 1 and 2 . Theassistive device 102 includes a wearable pad 302, a plurality of hapticmobility signal generators (HMSG), such as a first HMSG 304 a, a secondHMSG 304 b, a third HMSG 304 c, and a fourth HMSG 304 d. There is alsoshown the haptic feedback interface 112 comprising the plurality ofhaptic elements 218. The wearable pad 302 may correspond to the one ormore wearable pads 226.

The plurality of HMSGs refers to customized sensors that are configuredto generate haptic signals, such as a vibration, a small localized pain,or a poke, that be sensed by human body. The first HMSG 304 a may beconfigured to generate a first haptic mobility signal to indicate theuser 110 to move ahead. The second HMSG 304 b may be configured togenerate a second haptic mobility signal to indicate the user 110 tostop or perform an about-turn. The third HMSG 304 c may be configured togenerate a third haptic mobility signal to indicate the user 110 to turnleft. Lastly, the fourth HMSG 304 d may be configured to generate afourth haptic mobility signal to indicate the user 110 to turn right. Inaccordance with an embodiment, the haptic feedback controller 220 may beconfigured to control output of haptic mobility signals via theplurality of HMSGs to provide navigational assistance, for example, turnleft, turn right, stop here, start moving ahead, and the like, incombination with the generated touch-discernible output layouts in boththe indoor and the outdoor areas. In some embodiments, one hapticmobility signal may indicate to move one step in that direction. In someembodiments, one haptic mobility signal may indicate to continue movingin a particular direction until a next haptic mobility signal isgenerated.

FIGS. 4A and 4B, collectively, illustrates a second exemplaryimplementation of the exemplary assistive device of FIG. 2A as awearable assistive device for providing non-visual assistance to a user,in accordance with an embodiment of the disclosure. With reference toFIGS. 4A and 4B, there is shown the assistive device 102 as an exemplarywearable band, which is described in conjunction with elements fromFIGS. 1, 2, and 3 . With reference to FIG. 4A, there is shown an innersurface 402 a of the wearable band that includes the haptic feedbackinterface 112 that comprises the plurality of haptic elements 218. Thereis also shown a wearable pad 404, a pad fastener 406, and the pluralityof HMSGs 304 a to 304 d. The wearable pad 404 and the pad fastener 406may correspond to the one or more wearable pads 226 and the padfasteners 228. With reference to FIG. 4B, there is shown an outersurface 402 b of the wearable band that depicts the wearable pad 404 andthe pad fastener 406.

In accordance with the second exemplary implementation, the hapticfeedback interface 112 may be a foldable or bendable layer integrated onthe wearable pad 404 such that the inner surface 402 a is in contactwith the skin. The user 110 may be sense the generated firsttouch-discernible output layout on the haptic feedback interface 112 inhands-free mode. The user 110 may discern movement of one or more movingobjects in the surrounding world, such as the first proximity range orthe second proximity range, based on the actual movement (or a movementsense created) by the generated first set of haptic indicators in thefirst touch-discernible output layout. The user 110 may sense thegenerated second touch-discernible output layout on the haptic feedbackinterface 112. The output of different haptic mobility signals via theplurality of HMSGs may be controlled to provide navigational assistancein combination with the generated touch-discernible output layouts. Forexample, referring to FIG. 6B, when the user 110 touches the firsttouch-discernible output layout 624, the first HMSG 304 a may beconfigured to generate a first haptic mobility signal to indicate theuser 110 to move ahead by a step. Another first haptic mobility signalby the first HMSG 304 a may inform the user 110 to further move by onestep (or a defined number of steps). After certain distance is covered,based on the current position of the user 110, the fourth HMSG 304 d maybe configured to generate one or more haptic mobility signals toindicate the user 110 to move towards the right of the user 110 forrespective steps. The user 110 may feel the changed position of thehaptic indicator 626 a in first touch-discernible output layout 624. Thechanged position of the haptic indicator 626 a (which is discernible bytouch) may be indicative of the actual movement or distance travelled bythe user 110 within the first proximity range 602 (FIG. 6A) in the 3Dreal-world area with respect to other objects. In one example, if theuser 110 touches a specific haptic indicator, for example, the hapticindicator 626 g in the first touch-discernible output layout 624, thefourth HMSG 304 d may be configured to generate a short haptic signal toindicate that a car is located towards the right side of the user 110.Similarly, in another example, if the user 110 touches another hapticindicator, for example, the haptic indicator 626 h in the firsttouch-discernible output layout 624, the second HMSG 304 b may beconfigured to generate a short haptic signal to indicate that the objectthat corresponds to the haptic indicator 626 h (such as the building inthis case) is located towards the left side of the user 110. This, theoutput of different haptic mobility signals via the plurality of HMSGsmay be controlled to provide navigational assistance in combination withthe generated touch-discernible output layouts.

FIG. 5 illustrates a third exemplary implementation of the exemplaryassistive device of FIG. 2A as a combination of a plurality of wearableand non-wearable assistive devices for providing non-visual assistanceto a user, in accordance with an embodiment of the disclosure. FIG. 5 isdescribed in conjunction with elements from FIGS. 1, 2, 3, 4A, and 4B.With reference to FIG. 5 , there is shown a plurality of wearable andnon-wearable assistive devices that may be communicatively coupled toeach other, via a personal wireless network, such as the firstcommunication network 108A. The plurality of wearable and non-wearableassistive devices comprises a portable assistive device (such as theassistive device 102) and a plurality of wearable bands 502 a, 502 b,502 c, 502 d, and 502 e.

In accordance with the third exemplary implementation, the portableassistive device (e.g. the assistive device 102) may further include adetachable learner unit 504, a proximity range setter 506, a pluralityof microphones 508 a to 508 d, the biometric sensor 216A, the firstaudio-output device 224A, the second audio-output device 224B, and thehaptic feedback interface 112. There is also shown the plurality ofhaptic elements 218 of the haptic feedback interface 112. In accordancewith an embodiment, the assistive device 102 may include a plurality ofother hardware control buttons (not shown), such as a power button toON/OFF the assistive device 102, a reset button to reset the generatedtouch-discernible output layouts 624 and 628 (FIG. 6B) on the hapticfeedback interface 112, one or more volume control buttons/wheels tocontrol audio output from the first audio-output device 224A and thesecond audio-output device 224B, a mute button to disable audio output.

The plurality of wearable bands 502 a, 502 b, 502 c, 502 d, and 502 emay correspond to the wearable assistive device, such as the assistivedevice 102, as shown and described of FIGS. 4A and 4B. In someembodiments, when the plurality of wearable bands 502 a, 502 b, 502 c,502 d, and 502 e, are communicatively coupled to the main device, suchas the portable electronic device, the plurality of wearable bands 502a, 502 b, 502 c, 502 d, and 502 e may or may not include the hapticfeedback interface 112. In such a case, the plurality of wearable bands502 a, 502 b, 502 c, 502 d, and 502 e may include the plurality of HMSGsto generate haptic mobility signals to provide navigational assistancebased on signals received from the main device, such as the assistivedevice 102.

The detachable learner unit 504 may be a learning assistant for the user110 that may assist the user 110 to learn not only the operation of theassistive device 102 but also help understand meaning of each hapticindicator of the plurality of different haptic indicators generated inthe touch-discernible haptic output layouts. For example, the user 110may provide a haptic input on a haptic indicator generated on the hapticfeedback interface 112 in the first touch-discernible haptic outputlayout. The user 110 may press a protrusion (or a bulge) generated onthe haptic feedback interface 112 as the haptic indicator. Based on theamount of pressure exerted by the user 110 while touching the protrusionon the haptic feedback interface 112, the press may be considered ahaptic input by the haptic feedback controller 220. In cases where theamount of pressure exerted by the user 110 on a particular point or aprotrusion on the haptic feedback interface 112 is greater than athreshold pressure value, the press of the protrusion (or a bulge) maybe considered a haptic input for that particular object of the 3Dreal-world area that is indicated by the pressed protrusion. Acorresponding action related to the pressed protrusion may be executedby the haptic feedback controller 220 in association with the secondcircuitry 210. For example, an oval shape protrusion, which denotes aparticular object-type, for example, a car, may be pressed via thehaptic feedback interface 112. In accordance with an embodiment, ahaptic Braille feedback may be generated on the detachable learner unit504 based on the received input on the haptic indicator to provideadditional information about the haptic indicator. For example, “car”word may appear in Braille. Thus, when the user 110 pushes each hapticindicator to be considered a haptic input, a corresponding hapticBraille feedback may be generated on the detachable learner unit 504 toenable learning about the object-type, distance from the user 110, theshape associated with the haptic indicators, and other meanings in thelearning period. Thus, the detachable learner unit 504 acts as thelearning assistant or a self-help haptic guide.

In some embodiments, instead of the haptic Braille feedback, acorresponding audio feedback may be generated for the detected hapticinput. For example, “this is a car, 15 steps on your right”. Such hapticBraille feedback or the voice-based feedback provided in combination tothe generated touch-discernible feedback provide a synergistic andenhanced non-visual navigation assistance to the user 110 in real timeor near-real time as the user 110 moves in the 3D real-world area. Insome embodiments, instead of the haptic Braille feedback or the audiofeedback, an actual action in the 3D real-world may be executed. Forexample, if the pushed haptic indicator corresponds to an electronicdevice, such as a fan, a light, and the like, the corresponding actionmay be to automatically switch “OFF” or switch “ON” based on the currentstate in the 3D real-world. A control signal may be sent by theassistive device 102 in the IoT network, such as the first communicationnetwork 108A or the second communication network 108B, to controldelivery of corresponding control signal to the target device for asuitable action.

In conventional devices, the input section to receive a haptic input isdifferent from the output section (in a conventional haptic userinterface) where the Braille output or other tactile forms of output aregenerated. Typically, the input section to receive haptic input is a6-keys or 8-keys Braille input. A separate section to receive input andprovide output, may be considered a rudimentary form of HMI, where agenerated haptic output may not be capable of receive a further feedbackon a particular touch-discernible haptic indicator. In contrast, thesame tactile surface area of haptic feedback interface 112 of theassistive device 102 acts both as the haptic input receiver and hapticoutput generator, where the user 110 may press a protrusion (or a bulge)generated on the haptic feedback interface 112 to provide the hapticinput related to a specific object in the vicinity of the assistivedevice 102. Based on the amount of pressure exerted by the user 110while touching the protrusion on the haptic feedback interface 112, thepress may be considered a haptic input by the haptic feedback controller220.

The proximity range setter 506 may refer to a hardware proximity settingwheel that may be used to set or change the proximity range to generatethe touch-discernible haptic output layouts. For example, the firstproximity range may be changed to the second proximity range using theproximity range setter 506.

The plurality of microphones 508 a to 508 d may correspond to theplurality of microphones 214 (FIG. 2A). Based on a difference in thetime of receipt of a sound emanated from an object of a plurality ofobjects in the 3D real-world area, at each of microphone of theplurality of microphones 508 a to 508 d, a direction of the object maybe determined. For example, the plurality of microphones 508 a to 508 dfour microphones may be placed at four sides (left, right, top, andbottom) of the assistive device 102. In cases, a sound signal from anobject, such as a human or vehicle horn, may be first received at themicrophone 508 a, and then at other microphones 508 b, 508 c, and 508 d.This may indicate that the object may be located at 180-degree in thedirection of the placement of the microphone 508 a (e.g. frontdirection) with respect to the current orientation of the assistivedevice 102. This information, such as the determined direction of theobject, may then be utilized during generation of the touch-discernibleoutput layouts or the audio feedback to discern the positioning of theplurality of objects in the 3D real-world area.

The user 110 may sense the generated first touch-discernible outputlayout or the second touch-discernible output layout on the hapticfeedback interface 112. The output of different haptic mobility signalsvia the plurality of HMSGs may be controlled to provide navigationalassistance in combination with the generated touch-discernible outputlayouts.

FIGS. 6A and 6B illustrate exemplary scenario diagrams forimplementation of the assistive device and method for providingnon-visual assistance to a user, in accordance with an embodiment of thedisclosure. With reference to FIG. 6A, there is a shown a firstexemplary scenario 600A, which is described in conjunction with elementsfrom FIGS. 1, 2, 3, 4A, 4B, and 5 . The first exemplary scenario 600Ashows the user 110 with a wearable assistive device, such as theassistive device 102, present in a 3D real-world area. There is alsoshown a first proximity range 602 and a second proximity range 604 ofthe assistive device 102.

In accordance to the first exemplary scenario 600A, the user 110 may bea person with loss of sight or impaired sight. The 3D-real world areasurrounding the user 110 within the first proximity range 602 includes afirst plurality of objects. The first plurality of objects may includeboth moving objects (e.g. the user 110, other persons 606 and 608, ananimal 610 (such as a pet dog), a first car 612, a second car 614, athird car 616), and stationary objects (e.g. a first building 618, asecond building 620, and a street 622 with a sidewalk area forpedestrians, as shown. The 3D-real world area surrounding the user 110within the first proximity range 602 may include many other objects,such as trees, street lights, and the like, which are not shown for thesake of brevity.

In accordance with the first exemplary scenario 600A, the user 110 maybe wearing the assistive device 102 (for example, as shown in FIG. 3 ).The user 110 may press a power “ON” button or a start button to initiatereceipt of sensor data from the plurality of different types of sensors104. For example, an image-capture device may be worn as a headset orplaced at a suitable position on the body of the user 110 to capture a360 view of the 3D real-world area that surrounds the user 110 within afirst proximity range, for example, “X” meters, where “X” refers to adistance in natural numbers. In this case, the first proximity range maybe 100 meters. The proximity range setter 506 may be provided in theassistive device 102, which may be used to set the desired firstproximity range by the user 110. In some embodiments, the firstproximity range may be a user-specified default range. In someembodiments, the first proximity range may correspond to an equal ‘X”meters range from the center that corresponds to the position of theuser 110. In some embodiments, the first proximity range may correspondto an unequal ‘X” meters range from the position of the user 110, forexample, more area may be covered in front, left, or right of the user110 based on a direction of movement of the user 110 as compared to therear area of the user 110.

In accordance with an embodiment, the first circuitry 208 may beconfigured to receive sensor data of the 3D real-world area within thefirst proximity range 602 of the assistive device 102. The sensor datamay include the captured 360 view of the 3D real-world area thatsurrounds the user 110 within the first proximity range 602 and RFsensor data that provide an estimation of distances and motion of eachthe first plurality of objects from the position of the user 110. Thesensor data may also include sensed data from the IR sensor of theplurality of different types of sensors 104. The sensed data from the IRsensor may be used to distinguish between living and non-living objects.The sensor data of the 3D real-world area within the first proximityrange 602 may be received from the plurality of different types ofsensors 104. The plurality of different types of sensors 104 may includewearable sensors that may be worn by the user 110, sensors that may beintegrated with the assistive device 102, such as sensors of the sensorcluster unit 216, or sensors provided in other personal devices of theuser 110. The sensor data of the 3D real-world area received in realtime or near-real time may be used to collect information of the 3Dreal-world area within the first proximity range 602 of the user 110.The second circuitry 210 may be configured to generate the modified 3Ddigital model of the 3D real-world area, based on the received sensordata that is transformed in the common format.

With reference to FIG. 6B, there is shown a second exemplary scenario600B that depicts a first touch-discernible output layout 624 on thehaptic feedback interface 112. The first touch-discernible output layout624 includes a first plurality of different haptic indicators 626 a to626 j. The represents the first plurality of objects in the 3Dreal-world area within the first proximity range 602 of the assistivedevice 102. The second exemplary scenario 600B also shows a secondtouch-discernible output layout 628 on the haptic feedback interface112. The second touch-discernible output layout 628 includes a secondplurality of different haptic indicators 630 a to 630 e.

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to generate the first touch-discernible output layout 624on the haptic feedback interface 112 using the plurality of hapticelements 218 and the haptic feedback generator 222. The firsttouch-discernible output layout 624 may be generated using the selectedfirst touch-discernible modality, for example, raised shape-patternbased modality, from the plurality of touch-discernible modalities. Thefirst touch-discernible output layout may correspond to a firstreproduction of the 3D real-world area within the first proximity range602 of the assistive device 102. The first touch-discernible outputlayout 624 may include a first set of haptic indicators, such as thehaptic indicators 626 a to 626 g, to discern movement of the first setof moving objects, such as the user 110, the other persons 606 and 608,the animal 610, the first car 612, the second car 614, and the third car616 within the first proximity range 602. Similar to the sighted people(i.e. people who have not lost sense of sight) who use information aboutthe features on the surface of an object, like color, shading, oroverall size, and shape, to recognize an object, the people who havelost the sense of sight may also identify an object-type and objectposition based on a touch on the protrusion of a defined shape n thegenerated first touch-discernible output layout 624, where anassociation of a particular shape with a particular object-type islearned by the brain. For example, in this case a round shape isindicative of human being, an oval shape may be indicative of vehicles,the square shape is indicative of buildings, the triangle shape isindicative of animal, the raised tapering lines may be indicative of astreet. Notwithstanding, different shapes generated by the hapticfeedback generator 222, may not be limited to the oval, round, square,or triangle, and that other shapes, for example, any polygonal shapes(e.g. the protrusion 232A (FIG. 2B)) may be generated. In accordancewith an embodiment, the shape of a protrusion may be customized by usersof the assistive device 102 in accordance with their needs orpreferences, as described for example, in FIG. 2B.

The first touch-discernible output layout 624 may also includes a uniquehaptic indicator, such as the haptic indicator 626 a, which correspondsto a current position of the user 110 of the assistive device 102 in the3D real-world area. It may be advantageous to include the unique hapticindicator that is representative of the user 110 as it enables the user110 to non-visually discern the 3D real-world area from the perspectiveof the user 110 in the first proximity range 602 by a touch on theunique haptic indicator (such as the haptic indicator 626 a) followed bytouch on other haptic indicators of the first plurality of differenthaptic indicators 626 b to 626 j generated on the haptic feedbackinterface 112.

The movement of the first set of haptic indicators, such as the hapticindicators 626 a to 626 g, may be updated continually or periodically inthe first touch-discernible output layout 624 based on the trackedmovement of the first set of moving objects, such as the user 110, theother persons 606 and 608, the animal 610, the first car 612, the secondcar 614, and the third car 616 within the first proximity range 602.Thereafter, the haptic feedback controller 220 may be configured toreceive a user input at the assistive device 102 to change the firstproximity range 602 to the second proximity range 604. In someembodiments, the haptic feedback controller 220 may be configured toreceive the user input via the haptic feedback interface 112 to initiateat least one of a haptic zoom-in feature (shown by the thick arrowmark). In some embodiments, the haptic feedback controller 220 may beconfigured to receive the user input by a consecutive two-touch input,by the proximity range setter (e.g. the proximity range setter 506) ofthe assistive device 102.

In accordance with an embodiment, the second circuitry 210 may beconfigured to calibrate the one or more of the plurality of differenttypes of sensors 104 to receive sensor data in accordance with thesecond proximity range 604. The second circuitry 210 may be configuredto determine the speed and the direction of travel of each of a secondset of moving objects, such as the user 110, the person 606, and thethird car 616 of a second plurality of objects (that also includes thefirst building 618) within the second proximity range 604. The secondcircuitry 210 may be configured to monitor/track the relative positionof each of the second plurality of objects with respect to the positionof the user 110 of the assistive device 102. The relative position ofeach of the second plurality of objects may be monitored based on thesensor data of the second proximity range 604 received in real time ornear-real time from the plurality of different types of sensors 104.

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to update the first touch-discernible output layout 624 tothe second touch-discernible output layout 628 based on the change ofthe first proximity range 602 to the second proximity range 604. Thesecond touch-discernible output layout 628 may correspond to a secondreproduction of the 3D real-world area based on the change of the firstproximity range 602 to the second proximity range 604. The secondplurality of different haptic indicators 630 a to 630 e may be spatiallyarranged on the haptic feedback interface 112 such that a spatialarrangement of a second plurality of objects in the 3D real-world areawithin the second proximity range 604 may be discernible bytactioception based on a user touch on the second touch-discernibleoutput layout 628. The second plurality of different haptic indicatorsmay include one or more haptic indicators 630 a, 630 b, and 630 c todiscern movement of the second set of moving objects (such as the user110, the person 606, and the third car 616). The second set of movingobjects may include one of more objects from the first set of movingobjects in the first proximity range 602.

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to execute a haptic zoom-in operation of a portion of thefirst touch-discernible output layout 624 to increase a hapticresolution of the first touch-discernible output layout 624 on thehaptic feedback interface 112 based on the user input on the portion(shown by thick arrow mark) via the haptic feedback interface 112. Thefirst touch-discernible output layout 624 may be updated to the secondtouch-discernible output layout 628 based on the haptic zoom-inoperation. The second circuitry 210 may be configured to estimate aspatial scaling factor based on the difference between the firstproximity range, for example 100 meters, and the second proximity range,for example, 30 meters. The haptic feedback controller 220 may beconfigured to control a rate-of-change of movement of one or more ofhaptic indicators (e.g. the haptic indicators 630 a, 630 b, and 630 c)of the first set of haptic indicators or the second set of hapticindicators on the haptic feedback interface 112. The rate-of-change ofmovement may be controlled based on the determined spatial scalingfactor. The determined spatial scaling factor indicates a change of areabetween the first proximity range 602 and the second proximity range 604to transform and reflect the change in haptic domain.

In accordance with an embodiment, the haptic feedback generator 222 maybe configured to continuously or periodically update the secondtouch-discernible output layout 628 to reflect change in positioning ofthe moving objects within the second proximity range 604. In someembodiments, the haptic feedback interface 112 may comprise a pluralityof defined regions, for example, two defined regions. In someembodiments, the modality of generation of the plurality of differenthaptic indicators for the first touch-discernible output layout 624 maybe same as the second touch-discernible output layout 628. In someembodiments, the modality of generation of the plurality of differenthaptic indicators for the first touch-discernible output layout 624 maybe different from the second touch-discernible output layout 628.

Similar to the hand-held device, when the assistive device 102 is worn,the skin of the user 110 (e.g. sensory receptors at skin of theforearms, thigh, waist, leg, feet, and the like) may feel the pluralityof different haptic indicators 626 a to 626 j (or 630 a to 630 e) toperceive the surrounding world. In FIG. 6B, the plurality of differenthaptic indicators example, are shown to be generated as a plurality ofdifferent protrusions of different shapes. However, the plurality ofdifferent haptic indicators may also be generated as different level ofelectric-pulses, different amount of pressure or pain, different levelof temperature, or their combination, on the haptic feedback interface112 by the haptic feedback generator 222, as described in FIG. 2A.

In accordance with an embodiment, the assistive device 102 may include aview-change button. The view-change button may be used by the user 110to change the capture of sensor data for a front area of the 3D-realworld area instead of all the area within the first proximity range 602.Thereby, the touch-discernible output layout may be generated for thefront area of the 3D-real world area (i.e. a front view from theperspective of user 110). Similarly, a second press on the view-changebutton may result in the generation of the touch-discernible outputlayout for rear view, for example, to view an area behind the user 110.

FIGS. 7A and 7B, collectively, depict a flow chart 700 that illustratesa method for providing non-visual assistance to a user to perceive thesurrounding world, in accordance with an embodiment of the disclosure.FIGS. 7A and 7B are described in conjunction with elements from theFIGS. 1, 2, 3, 4A, 4B, 5, 6A, and 6B. As shown in FIG. 7A, the method ofthe flow chart 700 starts at 702 and proceeds to 704.

At 704, a current location of the assistive device 102 may be detected.The second circuitry 210 may be configured to detect the currentlocation of the assistive device 102 using the location sensor. Thelocation sensor may be provided in the sensor cluster unit 216 of theassistive device 102 or may refer to one of the plurality of differenttypes of sensors 104. At 706, it may be checked whether a first templatemap of a 3D real-world area for the detected current location of theassistive device 102 is available. The availability of the firsttemplate map of a 3D real-world area may be checked at the server 106 orthe memory 212. In cases where the first template map is available, thecontrol passes to 408, else to 410.

At 708, a first template map of a 3D real-world area within a firstproximity range of the assistive device 102 may be acquired. The firstcircuitry 208 may be configured to acquire the first template map of the3D real-world area within the first proximity range of the assistivedevice 102. In some embodiments, the first template map may be acquiredfrom the server 106 based on the current location of the assistivedevice 102. As the user 110 may be equipped with the assistive device102, the location of the assistive device 102 may be same as that of theuser 110. In some embodiments, the memory 212 may store 2D/3D maps ofgeographical regions of the earth surface, such as street views foroutdoor locations. In such embodiments, the first template map may beretrieved from the memory 212.

At 710, sensor data of the 3D real-world area within the first proximityrange of the assistive device 102 may be received. The first circuitry208 may be configured to receive sensor data of the 3D real-world areawithin the first proximity range of the assistive device 102 from theplurality of different types of sensors 104 that are communicativelycoupled to the assistive device 102. In some embodiments, the sensordata may also be received from the sensor cluster unit 216. In someembodiments, the first template map of a 3D real-world area may not beacquired, for example, in case of indoor locations or for regions wherethe first template map may not be available. In such a case, the sensordata of the 3D real-world area received in real time or near-real timemay be used to collect information of the 3D real-world area within thefirst proximity range of the assistive device 102.

At 712, an object-type of each of a first plurality of objects presentwithin the first proximity range of the assistive device 102 may beidentified, based on the received sensor data. The second circuitry 210may be further configured to identify the object-type of each of thefirst plurality of objects present within the first proximity range ofthe assistive device 102 based on the received sensor data. Examples ofthe object-type may include, but are not limited to a human being, ananimal, a vehicle-type (such as a car, a truck, a bicycle, atwo-wheeler, a four-wheeler, and the like), a living object, anon-living object, a moving object, a stationary object, a street, anobstacle, a hazard, a door, stairs, and other physical objects found inindoor or outdoor area of the 3D real-world area.

At 714, a relative position of each of the first plurality of objectswith respect to the position of the user 110 of the assistive device 102may be determined. The second circuitry 210 may be configured todetermine the relative position of each of the first plurality ofobjects with respect to the position of the user 110 of the assistivedevice 102. The relative position of each of the first plurality ofobjects may be determined based on the sensor data received in real timeor near-real time from the plurality of different types of sensors 104.

At 716, the first template map may be updated with at least positionalinformation of the first plurality of objects, based on the receivedsensor data of the 3D real-world area within the first proximity rangeof the assistive device 102. The second circuitry 210 may be configuredto update the first template map in real time or near-real time based onthe sensor data of the 3D real-world area.

At 718, a speed and a direction of travel of each of a first set ofmoving objects of the first plurality of different objects within thefirst proximity range may be determined. The second circuitry 210 may beconfigured to determine the speed and the direction of travel of each ofthe first set of moving objects of the first plurality of objects withinthe first proximity range.

At 720, a first touch-discernible modality from a plurality oftouch-discernible modalities may be selected to generate a plurality ofdifferent haptic indicators on the haptic feedback interface 112. Theselection of the first touch-discernible modality may be based onlearned user interaction information and a current weather condition inthe 3D real-world area. The learned user interaction information may bedetermined based on a historical analysis of usage pattern data of thehaptic feedback interface 112 by the learning engine provided in thememory 212. The plurality of touch-discernible modalities includes adifferential pressure-based modality, a differential temperature-basedmodality, a differential electric pulse-based modality, a differentialraised shape pattern-based modality. In some embodiments, a combinationof different touch-discernible modalities may be selected based on thelearned user interaction information, the current weather condition inthe 3D real-world area, and a specified user-setting.

At 722, a first touch-discernible output layout may be generated on thehaptic feedback interface 112 using the plurality of haptic elements218. The haptic feedback controller 220 may be configured to generatethe first touch-discernible output layout on the haptic feedbackinterface 112 using the plurality of haptic elements 218 and the hapticfeedback generator 222. The first touch-discernible output layout may begenerated using the selected first touch-discernible modality from theplurality of touch-discernible modalities. The first touch-discernibleoutput layout may correspond to a first reproduction of the 3Dreal-world area within the first proximity range of the assistive device102. The first touch-discernible output layout may include at least afirst set of haptic indicators to discern movement of the first set ofmoving objects within the first proximity range. The firsttouch-discernible output layout may be a first 3D layout that comprisesa first plurality of different haptic indicators. The first plurality ofdifferent haptic indicators may be spatially arranged on the hapticfeedback interface 112 in a defined region such that a spatialarrangement of the first plurality of objects in the 3D real-world areawithin the first proximity range of the assistive device 102 isdiscernible by tactioception based on a user touch on the firsttouch-discernible output layout. The first touch-discernible outputlayout may also include a unique haptic indicator that corresponds to aposition of the user 110 of the assistive device 102. The unique hapticindicator may be one of the first plurality of different hapticindicators generated on the haptic feedback interface 112. The uniquehaptic indicator may be indicative of a relative position of the user110 with respect to each of the first plurality of objects present inthe 3D real-world area within the first proximity range of the assistivedevice 102.

At 724, a user input may be received at the assistive device 102 tochange the first proximity range to a second proximity range. The hapticfeedback controller 220 may be configured to receive the user input tochange the first proximity range to the second proximity range. In someembodiments, the haptic feedback controller 220 may be configured toreceive the user input via the haptic feedback interface 112 to initiateat least one of a haptic zoom-in feature or a haptic zoom-out feature.In some embodiments, the haptic feedback controller 220 may beconfigured to receive the user input by the proximity range setter 506of the assistive device 102. In accordance with an embodiment, the firstproximity range may be greater than the second proximity range. Inaccordance with an embodiment, the first proximity range may be smallerthan the second proximity range.

At 726, one or more of the plurality of different types of sensors 104may be calibrated to receive sensor data in accordance with the secondproximity range. The second circuitry 210 may be configured to calibratethe one or more of the plurality of different types of sensors 104 toreceive sensor data in accordance with the second proximity range.

At 728, a speed and a direction of travel of each of a second set ofmoving objects of a second plurality of objects within the secondproximity range may be determined. The second circuitry 210 may beconfigured to determine the speed and the direction of travel of each ofthe second set of moving objects of the second plurality of objectswithin the second proximity range.

At 730, a relative position of each of the second plurality of objectswith respect to the position of the user 110 of the assistive device 102may be monitored. The second circuitry 210 may be configured to monitor(or track) the relative position of each of the second plurality ofobjects with respect to the position of the user 110 of the assistivedevice 102. The relative position of each of the second plurality ofobjects may be monitored based on the sensor data of the secondproximity range received in real time or near-real time from theplurality of different types of sensors 104.

At 732, the first touch-discernible output layout may be updated to asecond touch-discernible output layout based on the change of the firstproximity range to the second proximity range. The haptic feedbackcontroller 220 may be configured to update the first touch-discernibleoutput layout to the second touch-discernible output layout. The secondtouch-discernible output layout may correspond to a second reproductionof the 3D real-world area based on the change of the first proximityrange to the second proximity range. In accordance with an embodiment,the second touch-discernible output layout may be a second 3D layoutthat comprises a second plurality of different haptic indicators. Thesecond plurality of different haptic indicators may be spatiallyarranged on the haptic feedback interface 112 in the defined region suchthat a spatial arrangement of a second plurality of objects in the 3Dreal-world area within the second proximity range may be discernible bytactioception based on a user touch on the second touch-discernibleoutput layout. The second plurality of different haptic indicators mayinclude one or more haptic indicators of the first set of hapticindicators and/or a second set of haptic indicators to discern movementof the second set of moving objects. The second set of moving objectsmay include one of more objects from the first set of moving objectsand/or new objects detected within the second proximity range. Thesecond touch-discernible output layout may also include the uniquehaptic indicator that corresponds to a current position of the user 110of the assistive device 102 on the second touch-discernible outputlayout. The unique haptic indicator of the second plurality of differenthaptic indicators generated on the haptic feedback interface 112 may beindicative of a relative (or updated) position of the user 110 withrespect to each of the second plurality of objects present in the 3Dreal-world area within the second proximity range of the assistivedevice 102.

In accordance with an embodiment, the haptic feedback controller 220 maybe configured to execute a haptic zoom-in operation of a portion of thefirst touch-discernible output layout to increase a haptic resolution ofthe first touch-discernible output layout on the haptic feedbackinterface 112 based on the user input via the haptic feedback interface112. The first touch-discernible output layout may be updated to thesecond touch-discernible output layout based on the haptic zoom-inoperation. In accordance with an embodiment, the haptic feedbackcontroller 220 may be configured to execute a haptic zoom-out operationof a portion of the first touch-discernible output layout to decrease ahaptic resolution of the first touch-discernible output layout on thehaptic feedback interface 112 based on the user input via the hapticfeedback interface 112. The first touch-discernible output layout may beupdated to the second touch-discernible output layout based on thehaptic zoom-out operation.

At 734, a spatial scaling factor may be estimated based on thedifference between the first proximity range and the second proximityrange. The second circuitry 210 may be configured to estimate thescaling factor based on the difference between the first proximity rangeand the second proximity range.

At 736, a rate-of-change of movement of one or more of haptic indicatorsof the first set of haptic indicators or the second set of hapticindicators may be controlled on the haptic feedback interface 112. Therate-of-change of movement may be controlled based on the update of thefirst touch-discernible output layout to the second touch-discernibleoutput layout and a difference between the first proximity range and thesecond proximity range. For example, in cases where a sighted user looksvery far (e.g. beyond “X” meters) in the 3D real-world area, thechanges, such as movement of objects, may appear slow as compared towhen the sighted user looks nearby (i.e. up to “Y” meters). In caseswhere the sighted user looks nearby (e.g. Y=30 meters), the changes,such as movement of objects, appears to be very fast. Thus, in hapticdomain, the one or more of haptic indicators of the first set of hapticindicators or the second set of haptic indicators that indicate movingobjects requires to be controlled in accordance with the differencebetween the first proximity range and the second proximity range (i.e.X-Y) for a realistic discerning of the 3D real-world area in accordancewith the change in the proximity range, for example from far-to-near orfrom near-to-far.

At 738, an audio scaling factor may be determined based on thedifference between the first proximity range and the second proximityrange. The second circuitry 210 may be configured to determine (orcompute) the audio scaling factor based on the difference between thefirst proximity range and the second proximity range.

At 740, output of an audio feedback by the one or more audio-outputdevices 224 of the assistive device 102 for the second touch-discernibleoutput layout may be controlled in accordance with the determined audioscaling factor. The output of the audio feedback may be controlled for anon-visual multi-sense discern of the 3D real-world area by the user 110within the second proximity range. In accordance with an embodiment, theoutput of the audio feedback may be provided as the user navigates froma first location to a second location within the second proximity range.In accordance with an embodiment, the output of the audio feedback maybe provided based on a haptic input detected on the haptic feedbackinterface 112. Control passes to end 742.

In accordance with an exemplary aspect of the disclosure, a system forproviding non-visual assistance to a user (e.g. the user 110) toperceive the surrounding world is disclosed. The system may include theassistive device 102 (FIGS. 1, 2, 3, 4A, 4B, and 5 ), which may comprisethe haptic feedback interface 112 (FIG. 1 ) comprising the plurality ofhaptic elements 218 (FIG. 2A). The assistive device 102 may furthercomprise the haptic feedback controller 220 configured to generate afirst touch-discernible output layout on the haptic feedback interface112 using the plurality of haptic elements 218. The firsttouch-discernible output layout may correspond to a first reproductionof a 3D real-world area within a first proximity range of the assistivedevice 102. The first touch-discernible output layout includes at leasta first set of haptic indicators to discern movement of a first set ofmoving objects within the first proximity range. The haptic feedbackcontroller 220 may be further configured to update the firsttouch-discernible output layout to a second touch-discernible outputlayout based on a change of the first proximity range to a secondproximity range. The haptic feedback controller 220 may be configured tocontrol a rate-of-change of movement of one or more of haptic indicatorsof the first set of haptic indicators or a second set of hapticindicators within the second proximity range on the haptic feedbackinterface 112, based on the update and a difference between the firstproximity range and the second discern proximity range.

The present disclosure may be realized in hardware, or a combination ofhardware and software. The present disclosure may be realized in acentralized fashion, in at least one computer system, or in adistributed fashion, where different elements may be spread acrossseveral interconnected computer systems or the special-purpose device. Acomputer system or other special-purpose apparatus adapted to carry outthe methods described herein may be suited. The present disclosure maybe realized in hardware that comprises a portion of an integratedcircuit that also performs other functions.

The present disclosure may also be embedded in a computer programproduct, which comprises all the features that enable the implementationof the methods described herein, and which, when loaded in aspecial-purpose machine or computer system, is able to carry out thesemethods. Computer program, in the present context, means any expression,in any language, code or notation, of a set of instructions intended tocause a system with an information processing capability to perform aparticular function either directly, or after either or both of thefollowing: a) conversion to another language, code or notation; b)reproduction in a different material form.

While the present disclosure has been described with reference tocertain embodiments, it will be understood by those skilled in the artthat various changes may be made and equivalents may be substitutedwithout deviation from the scope of the present disclosure. In addition,many modifications may be made to adapt a particular situation ormaterial to the teachings of the present disclosure without deviationfrom its scope. Therefore, it is intended that the present disclosurenot be limited to the particular embodiment disclosed, but that thepresent disclosure will include all embodiments falling within the scopeof the appended claims.

What is claimed is:
 1. An assistive device, comprising: a hapticfeedback interface that comprises a plurality of haptic elements; and ahaptic feedback controller configured to: transform sensor data of athree-dimensional (3D) real-world area within a first proximity range ofthe assistive device into a defined format, wherein the sensor data isassociated with a plurality of different types of sensors; generate afirst touch-discernible output layout on the haptic feedback interfaceby the plurality of haptic elements, wherein the first touch-discernibleoutput layout corresponds to a first reproduction of the 3D real-worldarea within the first proximity range of the assistive device, whereinthe first touch-discernible output layout includes at least a first setof haptic indicators to discern movement of a first set of movingobjects within the first proximity range, wherein the first set ofhaptic indicators are generated on the haptic feedback interface by theplurality of haptic elements to discern a plurality of objects of the 3Dreal-world area within the first proximity range from the assistivedevice, wherein the first set of haptic indicators are generated basedon at least an environmental condition obtained from the sensor data,wherein the first touch-discernible output layout is generated based onthe transformation of the sensor data of the 3D real-world area withinthe first proximity range of the assistive device into the definedformat; and update the first touch-discernible output layout to a secondtouch-discernible output layout base on a change of a plurality ofobjects of the 3D real-world area within the first proximity range,wherein the plurality of objects of the 3D real-world area within thefirst proximity range are associated the plurality of haptic elements.2. The assistive device according to claim 1, wherein the hapticfeedback controller is further configured to determine a direction and aspeed of the plurality of objects in the 3D real-world area within thefirst proximity range; and control a movement of one or more of hapticindicators of the first set of haptic indicators or a second set ofhaptic indicators on the haptic feedback interface based the determineddirection and speed.
 3. The assistive device according to claim 1,wherein the first touch-discernible output layout is a first 3D layoutthat comprises a first plurality of different haptic indicators that arespatially arranged on the haptic feedback interface in a defined regionsuch that a spatial arrangement of a first plurality of objects in the3D real-world area within the first proximity range of the assistivedevice is discernible by tactioception, wherein the spatial arrangementof the first plurality of objects in the 3D real-world area within thefirst proximity range of the assistive device is discernible based on auser touch on the first touch-discernible output layout.
 4. Theassistive device according to claim 1, wherein the secondtouch-discernible output layout is a second 3D layout that comprises asecond plurality of different haptic indicators that are spatiallyarranged on the haptic feedback interface in a defined region such thata spatial arrangement of a second plurality of objects in the 3Dreal-world area within a second proximity range of the assistive deviceis discernible by tactioception, wherein the second plurality of objectsin the 3D real-world area within the second proximity range of theassistive device is discernible based on a user touch on the secondtouch-discernible output layout.
 5. The assistive device according toclaim 1, wherein the haptic feedback controller is further configured togenerate a plurality of different haptic indicators on the hapticfeedback interface by the plurality of haptic elements to discern theplurality of objects of the 3D real-world area within the firstproximity range from the assistive device.
 6. The assistive deviceaccording to claim 5, wherein the plurality of different hapticindicators are generated by a touch-discernible modality that includesat least one of a differential pressure-based modality, a differentialtemperature-based modality, a differential electric pulse-basedmodality, or a differential raised shape pattern-based modality.
 7. Theassistive device according to claim 1, further comprising a firstcircuitry configured to receive the sensor data of the 3D real-worldarea within the first proximity range of the assistive device in realtime or near-real time from the plurality of different types of sensorsthat are communicatively coupled to the assistive device.
 8. Theassistive device according to claim 7, further comprising a secondcircuitry configured to identify an object-type of each of the pluralityof objects within the first proximity range of the assistive devicebased on the sensor data.
 9. The assistive device according to claim 8,wherein the haptic feedback controller is further configured to generatea plurality of different haptic indicators via the haptic feedbackinterface to discern different identified object-types of the pluralityof objects within the first proximity range of the assistive device bytactioception, wherein the different identified object-types of theplurality of objects within the first proximity range of the assistivedevice is discerned based on a user touch on a defined region of thehaptic feedback interface.
 10. The assistive device according to claim1, further comprising a second circuitry configured to determine aspatial scaling factor based on a difference between the first proximityrange and a second proximity range.
 11. The assistive device accordingto claim 10, wherein the first proximity range is greater than thesecond proximity range.
 12. The assistive device according to claim 10,wherein the first proximity range is smaller than the second proximityrange.
 13. The assistive device according to claim 1, wherein each ofthe first set of haptic indicators in the first touch-discernible outputlayout is generated as a protrusion of a defined shape-pattern from thehaptic feedback interface, wherein a series of protrusions are generatedalong a path on the haptic feedback interface to discern movement of anobject of the first set of moving objects within the first proximityrange by tactioception, wherein the movement of the object of the firstset of moving objects within the first proximity range is discernedbased on a user touch on the first touch-discernible output layout onthe haptic feedback interface.
 14. The assistive device according toclaim 1, further comprising a second circuitry configured to acquire afirst template map of the 3D real-world area within the first proximityrange of the assistive device from a server based on a current positionof the assistive device in the 3D real-world area.
 15. The assistivedevice according to claim 14, wherein the second circuitry is furtherconfigured to update the first template map with at least positionalinformation of the first set of moving objects based on the sensor dataof the 3D real-world area within the first proximity range of theassistive device, wherein the sensor data is received from the pluralityof different types of sensors in real time or near-real time.
 16. Theassistive device according to claim 1, wherein the haptic feedbackcontroller is further configured to output an audio feedback by one ormore audio output devices provided in the assistive device incombination with the first touch-discernible output layout or the secondtouch-discernible output layout for a non-visual multi-sense discern of3D real-world area within the first proximity range of the assistivedevice by a user of the assistive device, wherein the output of theaudio feedback is provided as the user navigates from a first locationto a second location within the first proximity range.
 17. The assistivedevice according to claim 1, wherein the haptic feedback controller isfurther configured to execute a haptic zoom-in operation of a portion ofthe first touch-discernible output layout to increase a hapticresolution of the first touch-discernible output layout on the hapticfeedback interface, wherein the haptic zoom-in operation of the portionof the first touch-discernible output layout is executed based on a userinput via the haptic feedback interface, and wherein the firsttouch-discernible output layout is updated to the secondtouch-discernible output layout based on the haptic zoom-in operation.18. The assistive device according to claim 1, wherein the firsttouch-discernible output layout includes a unique haptic indicator thatcorresponds to a position of a user of the assistive device, and whereinthe unique haptic indicator of a first plurality of different hapticindicators generated on the haptic feedback interface is indicative of arelative position of the user with respect to each of the plurality ofobjects in the 3D real-world area within the first proximity range ofthe assistive device.
 19. The assistive device according to claim 1,wherein the second touch-discernible output layout includes a uniquehaptic indicator that corresponds to a current position of a user of theassistive device on the second touch-discernible output layout, whereinthe unique haptic indicator of a second plurality of different hapticindicators generated on the haptic feedback interface is indicative of arelative position of the user with respect to each of the plurality ofobjects in the 3D real-world area within a second proximity range of theassistive device.
 20. An method, comprising: in an assistive device thatcomprises a haptic feedback controller and a haptic feedback interfacethat includes a plurality of haptic elements: transforming sensor dataof a three-dimensional (3D) real-world area within a first proximityrange of the assistive device into a defined format, wherein the sensordata is associated with a plurality of different types of sensors;generating, by the haptic feedback controller, a first touch-discernibleoutput layout on the haptic feedback interface by the plurality ofhaptic elements, wherein the first touch-discernible output layoutcorresponds to a first reproduction of the 3D real-world area within thefirst proximity range of the assistive device, wherein the firsttouch-discernible output layout includes at least a first set of hapticindicators to discern movement of a first set of moving objects withinthe first proximity range, wherein the first set of haptic indicatorsare generated on the haptic feedback interface by the plurality ofhaptic elements to discern a plurality of objects of the 3D real-worldarea within the first proximity range from the assistive device, whereinthe first set of haptic indicators are generated based on at least anenvironmental condition obtained from the sensor data, and wherein thefirst touch-discernible output layout is generated based on thetransformation of the sensor data of the 3D real-world area within thefirst proximity range of the assistive device into the defined format;and updating, by the haptic feedback controller, the firsttouch-discernible output layout to a second touch-discernible outputlayout based on a change of a plurality of objects of the 3D real-worldarea within the first proximity range, wherein the plurality of objectsof the 3D real-world area within the first proximity range areassociated the plurality of haptic elements.
 21. The method according toclaim 20, further comprising receiving, by a first circuitry of theassistive device, the sensor data of the 3D real-world area within thefirst proximity range of the assistive device in real time or near-realtime from the plurality of different types of sensors that arecommunicatively coupled to the assistive device.